Large stroke high off-axis stiffness three degree of freedom spherical flexure joint

Naves, Mark; Aarts, RM Ronald; Brouwer, Dannis Michel

doi:10.1016/j.precisioneng.2019.01.011

Cited by 24 publications

(39 citation statements)

References 21 publications

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“…We have shown that the folded leafspring has proven to be a exure element that properly maintains a high level of support sti ness over a large range of motion and can be used to construct high sti ness large stroke spherical exure joints [66]. In this paper, we present a new concept for a two degree of freedom universal exure joint comprising folded leafsprings, resulting in a high level of sti ness in all support directions over a large range of motion.…”

Section: Conceptual Designmentioning

confidence: 99%

“…e hexapod design itself will be described in more detail in Chapter 7. Aim of the system is to pursue high positioning repeatability <100 nm combined with a large workspace of 100 × 100 × 100 mm 3 and high accelerations >5 g. e design of the exure-based universal and spherical joints for the hexapod are given by the serial stacked folded leafspring design presented by Naves et al [68] (Chapter 4). e universal and spherical joints are designed to allow for 25 degrees tip-tilt motion, which describes the rotation angle of the directional axis (ω t , schematically illustrated in Fig.…”

Section: System Descriptionmentioning

confidence: 99%

“…For releasing the remaining ve degrees of freedom of each arm of the hexapod, a passive universal and spherical joint is used connected to each other via an lower and upper arm, resulting in a 6-RUS type hexapod layout. e design of the spherical and universal joints consist of a folded leafspring based joint design, described in more detail in Chapter 4 [65,68]. A schematic overview of the 6-RUS layout is provided in Fig.…”

Section: Hexapod Layoutmentioning

confidence: 99%

“…Preventing collision for relatively simple topologies which are prone to collision can be prevented by properly conguring the boundary conditions on the allowed designs. However, preventing collision for more complex large range of motion exure joints [15,108] or threedimensional spatial topologies, such as universal [65,98] or spherical exure joints [62,66], can become rather cumbersome and conservatively set constraints could exclude good mechanism designs during the optimization procedure.…”

Section: Introductionmentioning

confidence: 99%

“…Following recent developments in large stroke exure joints and optimization strategies [19,27,32,[68][69][70]108], it is anticipated that a exure-based hexapod with a larger travel range, faster travel speed, higher load capacity and high repeatability can be realized. is paper considers the design and realization of a fully exure-based six degree-of-freedom parallel manipulator with a large range of motion.…”

Section: Introductionmentioning

confidence: 99%

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Design and optimization of large stroke flexure mechanisms

Naves¹

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Dankwoord xv C 1.3 Outline e rst part of this thesis provides a description of an optimization strategy for exure-based mechanisms, o ering a general framework for the optimization of the exure-based revolute, universal and spherical joint.Chapter 2 describes this optimization method speci cally developed for the optimization of exure mechanisms subjected to large deformations. In this chapter, Building block-based spatial topology synthesis method for large-stroke exure hingesAbstract Large-stroke exure mechanisms inherently lose sti ness in supporting directions when de ected. A systematic approach to synthesize such hinges is currently lacking. In this paper, a new building block-based spatial topology synthesis method is presented for optimizing large-stroke exure hinges. is method consists of a layout variation strategy based on a building block approach combined with a shape optimization to obtain the optimal design tuned for a speci c application.A derivative-free shape optimization method is adapted to include multiple system boundaries and constraints to optimize high complexity exure mechanisms in a broad solution space. To obtain the optimal layout, three prede ned threedimensional (3D) "building blocks" are proposed, which are consecutively combined to nd the best layout with respect to speci c design criteria. More speci cally, this new method is used to optimize a exure hinge aimed at maximizing the frequency of the rst unwanted vibration mode. e optimized topology shows an increase in frequency of a factor ten with respect to the customary three exure cross hinge (TFCH), which represents a huge improvement in performance. e numerically predicted natural frequencies and mode shapes have been veri ed experimentally.

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Section: Conceptual Designmentioning

confidence: 99%

Section: System Descriptionmentioning

confidence: 99%

Section: Hexapod Layoutmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design and optimization of large stroke flexure mechanisms

Naves¹

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Flexible Hinge-Based Antenna Pointing Mechanism

Barthwal,

Trikha,

Ghosal

2023

Mechanisms and Machine Science

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Optimization of a tetrahedron compliant spherical joint via computer-aided engineering tools

Kargar,

Parmiggiani,

Baggetta

et al. 2024

Int J Adv Manuf Technol

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This article focuses on enhancing the range of motion (ROM) of the Tetra II joint, a spherical compliant joint consisting of three internally interconnected tetrahedron-shaped elements that achieve motion through elastic deformation. Despite its excellent precision, this specific design is constrained in terms of ROM due to internal contacts among the tetrahedral elements. To overcome this limitation, this study utilizes a computer-aided engineering (CAE) framework to optimize the configuration of the Tetra II joint and enhance its ROM. The resultant optimized joint, referred to as Tetra III, is subsequently compared to Tetra II in terms of both ROM and center shift. Finite element models (FEM) are employed to validate the optimization results and examine how various tetrahedron-shaped geometries impact the joint’s performance. The newly optimized joint exhibits a significantly higher ROM compared to the previous version, while maintaining excellent precision and overall smaller dimensions. Finally, to demonstrate its manufacturability, the Tetra III joint is produced using selective laser sintering (SLS) technology, with Duraform PA serving as the construction material. The successful fabrication serves as a demonstrative example of the improved design of the Tetra III joint.

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Large stroke high off-axis stiffness three degree of freedom spherical flexure joint

Cited by 24 publications

References 21 publications

Design and optimization of large stroke flexure mechanisms

Design and optimization of large stroke flexure mechanisms

Flexible Hinge-Based Antenna Pointing Mechanism

Optimization of a tetrahedron compliant spherical joint via computer-aided engineering tools

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