Conventional multi-body mechanisms used in robotics and automated machinery can have limited motion due to the bearing and transmission parts. Replacing a traditional bearing joint with a compact deformable structure (flexure coupling) can improve the performance envelope for a mechanism. A dynamic nonlinear mathematical model is derived for a mechanism comprising a flexure coupling, which can undergo large deformations, connected to a rigid link. Direct actuation of the mechanism is assumed in three directions and an open-loop control methodology is designed to regulate the actuation forces to achieve a prescribed path with precise and repeatable small scale motion. A mechanism containing a flexure coupling is examined and compared to that of an ideal hinge joint. The results show that a flexure coupling allows an increased range of motion for the mechanism compared to a hinge coupling and can have multiple paths in the x and y direction for a prescribed angle trajectory at the end of the mechanism.
|Title of host publication||Proceedings of the ASME 2017 International Mechanical Engineering Congress and Exposition|
|Place of Publication||Tampa, Florida|
|Number of pages||9|
|Volume||Volume 4B: Dynamics, Vibration, and Control|
|Publication status||Published - 3 Nov 2017|
Bailey, N., Lusty, C., & Keogh, P. (2017). Large deformation of flexure couplings for robotic arm joints. In Proceedings of the ASME 2017 International Mechanical Engineering Congress and Exposition (Vol. Volume 4B: Dynamics, Vibration, and Control). [IMECE2017-71353] Tampa, Florida. https://doi.org/10.1115/IMECE2017-71353