Keywords

static balancing, lattice flexure, cross-axis flexural pivot, load-dependent stiffness

Abstract

his work details the integration of three distinct methods for altering the stiffness of compliant joints: lattice flexures, compound joints, and static balancing. The methodology for applying these strategies is discussed in detail. Lattice flexures are a flexure modification that leads to low motion-direction bending stiffness. Compound joints improve a compliant joint’s load-carrying ability and off-axis stiffness. Static balancing in this case is achieved through the addition of an auxiliary energy storage device. To statically balance a compound lattice-flexured cross-axis flexural pivot, the load-dependent stiffness behavior of a cross-axis flexural pivot (CAFP) with two lattice flexure types is determined. A balancer spring design is developed that is fully 3D-printable. The balancer is combined with a compound lattice-flexured CAFP. Physical hardware is 3D printed in titanium and its torque-displacement behavior is measured. The resulting device requires 1% of the actuation energy of a conventional CAFP of the same dimensions and material.

Original Publication Citation

Merriam, E.G., Tolman, K.A., and Howell, L.L., “Integration of Advanced Stiffness-Reduction Techniques Demonstrated in a 3D-Printable Joint,” Mechanism and Machine Theory, Vol 105, pp. 260-271, DOI:10.1016/j.mechmachtheory.2016.07.009, 2016.

Document Type

Peer-Reviewed Article

Publication Date

2016

Publisher

Mechanism and Machine Theory

Language

English

College

Ira A. Fulton College of Engineering

Department

Mechanical Engineering

University Standing at Time of Publication

Full Professor

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