Shape control of a beam consisting of triangular meso-structure segments with multiple V-shaped flexure springs
by Luke Berglind; Jaehyung Ju; Joshua D. Summers
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 2, No. 2, 2015

Abstract: This paper presents a direct displacement synthesis method for the design of shape control of meso-structure beams with multiple V-shaped flexure springs. The objective is to design a beam that will deform to a desired final shape when under a specific load. The method uses a ground structure geometry which can facilitate variable bending stiffness along the length of the beam using compliant spring members. The synthesis procedure involves the use of direct displacement to determine how the bending stiffness of the beam must vary to produce the desired shape change. The direct displacement synthesis method differs from other compliant mechanism synthesis methods found in literature, such as pseudo-rigid-body and continuum structure optimisation, in the approach taken to solve for the unknown variables in the system. By using direct displacement to determine how the structure must respond to a specific load to achieve the desired shape change, the unknown variables within the system can be extracted directly without the use of optimisation techniques. The method is detailed and sensitivities explored. With this method and no iterations, the spring configuration values can be determined such that the resulting shape is within 1% of the target shape.

Online publication date: Sat, 09-May-2015

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