A Family of Dual-Segment Compliant Joints Suitable for Use as Surrogate Folds

2015 ◽  
Vol 137 (9) ◽  
Author(s):  
Isaac L. Delimont ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Closed Form ◽  
Compliant Mechanisms ◽  
Large Deflections ◽  
Closed Form Solutions ◽  
Compliant Joints

Origami-inspired design is an emerging field capable of producing compact and efficient designs. The object of a surrogate fold is to provide a foldlike motion in a nonpaper material without undergoing yielding. Compliant mechanisms provide a means to achieve these objectives as large deflections are achieved. The purpose of this paper is to present a continuum of compliant joints capable of achieving motions not currently available with existing compliant joints. A series of compliant joints are presented in which the joint can be designed to allow or resist a variety of secondary motions. Closed-form solutions are presented for these compliant joints.

Evaluating Compliant Hinge Geometries for Origami-Inspired Mechanisms

2015 ◽  
Vol 7 (1) ◽  
Author(s):  
Isaac L. Delimont ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Closed Form ◽  
Design Space ◽  
Compliant Mechanisms ◽  
Large Deflections ◽  
Center Of Rotation ◽  
Closed Form Solutions ◽  
Potential Development ◽  
Design Guide

Origami-inspired design is an emerging field capable of producing compact and efficient designs. Compliant hinges are proposed as a way to replicate the folding motion of paper when using nonpaper materials. Compliant hinges function as surrogate folds and can be defined as localized reduction of stiffness. The purpose of this paper is to organize and evaluate selected surrogate folds for use in compliant mechanisms. These surrogate folds are characterized based on the desired motion as well as motions typically considered parasitic. Additionally, the surrogate folds' ability to rotate through large deflections and their stability of center of rotation are evaluated. Existing surrogate folds are reviewed and closed-form solutions presented. A diagram intended as a straightforward design guide is presented. Areas for potential development in the surrogate fold design space are noted.

Evaluating Compliant Hinge Geometries for Origami-Inspired Mechanisms

2014 ◽  
Author(s):  
Isaac L. Delimont ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Closed Form ◽  
Design Space ◽  
Compliant Mechanisms ◽  
Large Deflections ◽  
Center Of Rotation ◽  
Closed Form Solutions ◽  
Potential Development ◽  
Design Guide

Origami-inspired design is an emerging field capable of producing compact and efficient designs. Compliant hinges are proposed as a way to replicate the folding motion of paper when using non-paper materials. Compliant hinges function as surrogate folds and can be defined as localized reduction of stiffness. The purpose of this paper is to organize and evaluate selected surrogate folds for use in compliant mechanisms. These surrogate folds are characterized based on the desired motion as well as motions typically considered parasitic. Additionally the surrogate folds’ ability to rotate through large deflections and their stability of center of rotation are evaluated. Existing surrogate folds are reviewed and closed-form solutions presented. A diagram intended as a straightforward design guide is presented. Areas for potential development in the surrogate fold design space are noted.

A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Venkatasubramanian Kalpathy Venkiteswaran ◽  
Hai-Jun Su
Keyword(s):  
Compliant Mechanisms ◽  
Large Range ◽  
Beam Theory ◽  
Simple Approach ◽  
Large Deflections ◽  
Model Approximation ◽  
Significant Challenge ◽  
Body Model ◽  
Compliant Joints ◽  
Optimal Values

Compliant mechanisms achieve motion utilizing deformation of elastic members. However, analysis of compliant mechanisms for large deflections remains a significant challenge. In this paper, a three-spring revolute–prismatic–revolute (RPR) pseudorigid-body (PRB) model for short beams used in soft joints made of elastomer material is presented. These soft joints differ from flexure-based compliant joints in which they demonstrate significant axial elongation effects upon tip loadings. The traditional PRB models based on long thin Euler beams failed to capture this elongation effect. To overcome this difficulty, a model approximation based on the Timoshenko beam theory has been derived. These equations are utilized to calculate the tip deflection for a large range of loading conditions. An optimization process is then carried out to determine the optimal values of the parameters of the PRB model for a large range of tip loads. An example based on a robotic grasper finger is provided to demonstrate how the model can be used in analysis of such a system. This model will provide a simple approach for the analysis of compliant robotic mechanisms.

Crushing analysis of rotationally symmetric plastic shells

1982 ◽  
Vol 17 (4) ◽  
pp. 229-236 ◽  
Author(s):  
J G De Oliveira ◽  
T Wierzbicki
Keyword(s):  
Spherical Shell ◽  
Closed Form ◽  
Conical Shell ◽  
Point Load ◽  
Large Deflections ◽  
Uniform Pressure ◽  
Spherical Cap ◽  
Closed Form Solutions ◽  
General Methodology ◽  
Rotationally Symmetric

The crushing analysis of rotationally symmetric plastic shells undergoing very large deflections is presented. A general methodology is developed and simple closed-form solutions are derived for the case of a conical shell, a spherical shell under point load, a spherical shell crushed between rigid plates and under boss loading, and a spherical cap under external uniform pressure.

Closed Form Solutions of Joint Water-Filling for Coordinated Transmission

2010 ◽  
Vol E93-B (12) ◽  
pp. 3461-3468 ◽  
Author(s):  
Bing LUO ◽  
Qimei CUI ◽  
Hui WANG ◽  
Xiaofeng TAO ◽  
Ping ZHANG
Keyword(s):  
Closed Form ◽  
Closed Form Solutions ◽  
Water Filling
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