Comparative evaluation of straight and curved beam flexures for selectively compliant mechanisms

Abstract

In this paper, a quantitative comparison is made between straight beam and curved beam flexures for application on selectively compliant mechanisms. Following a general procedure previously described in the literature, the closed-form compliance equations for both flexural hinges are firstly derived. Then, the two morphologies are compared in terms of maximum achievable rotation and selective compliance (i.e. capability of providing low stiffness along a single desired direction). In particular, the performance of each design solution is quantified by means of purposely defined quality indexes, analytically computed on the basis of the hinges compliance matrix. Finally, the potentials of these types of flexures for the optimal design of compliant robotic fingers are critically discussed

Accuracy and precision: A new view on kinematic assessment of solid-state hinges and compliant mechanisms

“…Concerning the response to transverse loads, several contributions deal with the determination of stiffnesses (e.g. Fowler et al, 2014; Goldfarb and Speich, 1999; Trease et al, 2005) or compliances (Berselli et al, 2013; Lobontiu and Paine, 2002; Lobontiu et al, 2001, 2014; Smith et al, 1997; Weisbord and Paros, 1965) related to certain degrees of freedom defined a-priori as parasitic. This arbitrary choice represents the central critical aspect of these analyses.…”

Development of a Large-Range XY-Compliant Micropositioning Stage with Laser-Based Sensing and Active Disturbance Rejection Control

“…To this end, this paper introduces a novel large-range two-DOF mechanism by utilizing a hybrid configuration incorporating both corrugated and leaf flexures. A corrugated flexure possesses higher compliance and reduced stress concentration compared to a straight segment of equal longitudinal length [ 50 , 51 , 52 ]. This allows the development of the stage with an improved workspace while maintaining a compact size.…”

Pseudo rigid body model for a nonlinear folding compliant mechanism

“…PRBMs have been developed to model large deflection of flexural beams with an inflection point for linear elastic materials [27]. Using beam theory, analytical and FEA models have demonstrated the selective compliance of curved flexure hinges [28]. However, this approach considered linear elastic behavior and small deformations.…”