Analytical Compliance Model for Right Circle Flexure Hinge Considering the Stress Concentration Effect

Tuo, Weixiao; Li, Xingfei; Ji, Yue; Wu, Tengfei; Xie, Ziming

doi:10.1007/s12541-019-00306-7

Cited by 12 publications

(6 citation statements)

References 26 publications

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“…To calculate the total sti ness matrix of the small RCC device, the compliance matrix of the hinges and the rectangular beam connecting the hinges is calculated, following [31], [32], and [12]. In the following, it is assumed that deformations are small to ignore nonlinear e ects [31].…”

Section: Sti Ness Matrix Of Rcc Devicementioning

confidence: 99%

“…To calculate the compliance matrix of the rectangular beam, the torsional moment of inertia can be calculated as I t = βhw 3 , with the torsional shape coe cient β, the height h and the width w of the rectangular cross section. To calculate the torsional shape coe cient β, the length-width ratio of the rectangular cross section is needed, which leads to the torsional shape coe cient β y , using equation ( 8), or Table 1 from [31].…”

Section: Compliance Matrix Of the Rectangular Beammentioning

confidence: 99%

“…e compliance matrix of a single hinge is calculated using equations ( 12)-( 16) from [31]. e torsional moment of inertia has to be calculated for an in nitesimal strip dx at a position x along the x direction of the notch (as shown in Figure 4) and therefore varies along the circular hinge.…”

Section: Compliance Matrix Of the Hingementioning

confidence: 99%

“…e thickness t at the thinnest part of the notch is given as 2.82 mm, width w = 5 mm, and radius r = 1.25 mm. According to Table 3 of [31], condition 2 applies to the C θx−Mx element of the resulting compliance matrix (1), where (f 1 , f 2 , f 3 , f 4 ) are calculated according to (13)-( 16) of [31].…”

Section: Compliance Matrix Of the Hingementioning

confidence: 99%

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Flexure-based Environmental Compliance for High-speed Robotic Contact Tasks

Hartisch¹,

Haninger²

2022

Preprint

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e design of physical compliance -its location, degree, and structure -a ects robot performance and robustness in contact-rich tasks. While compliance is o en used in the robot's joints, ange, or end-e ector, this paper proposes compliant structures in the environment, allowing safe and robust contact while keeping the higher motion control bandwidth and precision of high impedance robots. Compliance is here realized with exures and viscoelastic materials, which are integrated to several mechanisms to o er structured compliance, such as a remote center of compliance. Additive manufacturing with fused deposition modeling is used, allowing faster design iteration and low-cost integration with standard industrial equipment. Mechanical properties, including the total sti ness matrix, sti ness ratio, and rotational precision, are analytically determined and compared to experimental results. ree remote center of compliance (RCC) devices and a 1-DOF linear device are prototyped and tested in high-speed assembly tasks.

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Section: Sti Ness Matrix Of Rcc Devicementioning

confidence: 99%

Section: Compliance Matrix Of the Rectangular Beammentioning

confidence: 99%

Section: Compliance Matrix Of the Hingementioning

confidence: 99%

Section: Compliance Matrix Of the Hingementioning

confidence: 99%

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Flexure-based Environmental Compliance for High-speed Robotic Contact Tasks

Hartisch¹,

Haninger²

2022

Preprint

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“…Tian et al presented the dimensionless empirical equations and graph expressions of filleted V-shaped, cycloidal and circular flexure hinges [25]. Li and Tuo used exponential models to formulate the empirical compliance equations for right-circular flexure hinges and the influence of stress concentration effect on the axial-compliance factor was further discussed [26,27].…”

Section: Introductionmentioning

confidence: 99%

Analytical Compliance Equations of Generalized Elliptical-Arc-Beam Spherical Flexure Hinges for 3D Elliptical Vibration-Assisted Cutting Mechanisms

Wang

Shao

2021

Materials

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Elliptical vibration-assisted cutting technology has been widely applied in complicated functional micro-structured surface texturing. Elliptical-arc-beam spherical flexure hinges have promising applications in the design of 3D elliptical vibration-assisted cutting mechanisms due to their high motion accuracy and large motion ranges. Analytical compliance matrix formulation of flexure hinges is the basis for achieving high-precision positioning performance of these mechanisms, but few studies focus on this topic. In this paper, analytical compliance equations of spatial elliptic-arc-beam spherical flexure hinges are derived, offering a convenient tool for analysis at early stages of mechanism design. The mechanical model of a generalized flexure hinge is firstly established based on Castigliano's Second Theorem. By introducing the eccentric angle as the integral variable, the compliance matrix of the elliptical-arc-beam spherical flexure hinge is formulated. Finite element analysis is carried out to verify the accuracy of the derived analytical compliance matrix. The compliance factors calculated by the analytical equations agree well with those solved in the finite element analysis for the maximum error; average relative error and relative standard deviation are 8.25%, 1.83% and 1.78%, respectively. This work lays the foundations for the design and modeling of 3D elliptical vibration-assisted cutting mechanisms based on elliptical-arc-beam spherical flexure hinges.

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