1. Large stroke spherical flexure joint
M. Naves, R.G.K.M. Aarts, D.M. Brouwer
University of Twente
Precision Engineering
De Horst, 7500AE Enschede
Key features
The flexure joint consists of folded leafsprings where all folding lines intersect the instant center of rotation to only allow for three rotational degrees of freedom, allowing for ±30° tip/tilt and ±10° twist motion.
The design is optimized for support stiffness over the full range of motion taking into account collision, resulting in high support stiffness over the full range of motion
The optimization is conducted with a shape optimization method where performance is evaluated with a flexible multibody software which provides fast and accurate results, enabling for efficient optimization.
Translational motion is constrained by a set of folded leafsprings
The instant center of rotation of the end-effector and intermediate body coincide in order to maintain high support stiffness when deflected
The deflection is distributed over two stages allowing for increased support stiffness and range of motion
Translational z-stiffness
Translational x/y-stiffness z x y
30° tilt-motion
30° tip-motion
End-effector connected to the upper set of folded leafsprings
Intermediate body connecting the lower and upper set of folded leafsprings
Wire EDM set of folded leafsprings (6 in total)
Base connected to the lower set of folded leafsprings
Acknowledgment
This research was funded by the Innovative Research Incentives Scheme VIDI (14152 NWO TTW) of the Ministry of Education, Culture and Science of the Netherlands.