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Research Papers

A Novel Family of Leaf-Type Compliant Joints: Combination of Two Isosceles-Trapezoidal Flexural Pivots

[+] Author and Article Information
Xu Pei

Robotics Institute, Beihang University, Beijing 100083, Chinapeixu@me.buaa.edu.cn

Jingjun Yu

Robotics Institute, Beihang University, Beijing 100083, Chinajjyu@buaa.edu.cn

Guanghua Zong

Robotics Institute, Beihang University, Beijing 100083, Chinaghzong@buaa.edu.cn

Shusheng Bi

Robotics Institute, Beihang University, Beijing 100083, Chinassbi@buaa.edu.cn

Yida Hu

School of Medicine, University of Pennsylvania, Philadelphia, PA 19104

J. Mechanisms Robotics 1(2), 021005 (Jan 07, 2009) (6 pages) doi:10.1115/1.3046140 History: Received January 05, 2008; Revised October 20, 2008; Published January 07, 2009

The leaf-type isosceles-trapezoidal flexural (LITF) pivot consists of two compliant beams and two rigid bodies. For a single LITF pivot, the range of motion is small while the center-shift is relatively large. The capability of performance can be improved greatly by the combination of two LITF pivots. Base on the pseudorigid-body (PRB) model of a LITF pivot, a method to construct the double-LITF pivots is presented by regarding a single LITF pivot as a the configurable flexure module. The trends of the center-shift are mainly considered by using this method with the combination of two LIFT pivots. Eight types of double-LITF pivots are synthesized. Compared with the single LIFT pivot, the stroke becomes larger, and stiffness becomes smaller. Four of them have the increased center-shift. The other four have the decreased center-shift. Two of the double-LITF pivots are selected as the examples to explain the proposed method. The comparison between PRB model and finite element analysis result shows the validity and effectiveness of the method.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

The equivalent relationship between a LITF pivot and a four-bar model

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Figure 2

The PRB four-bar model for case TI

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Figure 3

The PRB four-bar model for case TII

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Figure 4

Combination of two LITF pivots in series. IE indicates intermediate element, S indicates stand, and ME indicates movable element. (a) Select two pivots; (b) make the virtual centers coincident; (c) combination; and (d) an embodiment.

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Figure 5

Force-displacement results for double-LITF pivot Nos. (2) and (5)

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Figure 6

Center-shift results for double-LITF pivot No. (2). (hf=5 mm, H=35 mm, φ=30 deg, t=0.5 mm, and b=5 mm). (a) Magnitude of the center-shift and (b) the position of the center-shift.

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Figure 7

Center-shift results for double-LITF pivot No. (5). (hf=5 mm, H=35 mm, φ=30 deg, t=0.5 mm, and b=5 mm). (a) Magnitude of the center-shift and (b) the position of the center-shift.

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Figure 8

Magnitudes of the center-shift for double-LITF pivots (nf=1/7)

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Figure 9

Magnitudes of the center-shift for double-LITF pivots when nf varies (α=20 deg)

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