digital-brain/content/zettels/flexible_joints.md

+++ title = "Flexible Joints" author = ["Dehaeze Thomas"] draft = false +++

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Resources

Books:

• (Smith 2000)
• (Lobontiu 2002)
• (Henein 2003)
• (Smith 2005)
• (Soemers 2011)
• (Cosandier 2017)

Presentations:

• (Henein 2010)

Flexure Joints for Stewart Platforms

From (Chen and McInroy 2000):

To avoid the extremely non-linear micro-dynamics of joint friction and backlash, these hexapods employ flexure joints. A flexure joint bends material to achieve motion, rather than sliding of rolling across two surfaces. This does eliminate friction and backlash, but adds spring dynamics and limits the workspace.

https://www.youtube.com/watch?v=tenxq7N5q3k

Materials

Typical materials used for flexible joints are:

• Steel
• Aluminum
• Titanium

Manufacturers

https://www.flexpivots.com/ Prototyping kits: https://www.motusmechanical.com/

Bibliography

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Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). doi:10.1109/robot.2000.844878.

Cosandier, Florent. 2017. Flexure Mechanism Design. Boca Raton, FL Lausanne, Switzerland: Distributed by CRC Press, 2017EOFL Press.

Henein, Simon. 2003. Conception Des Guidages Flexibles. Lausanne, Suisse: Presses polytechniques et universitaires romandes.

———. 2010. “Flexures: Simply Subtle.” In Diamond Light Source Proceedings, MEDSI 2010. Cambridge University Press.

Lobontiu, Nicolae. 2002. Compliant Mechanisms: Design of Flexure Hinges. CRC press.

Smith, Stuart T. 2000. Flexures: Elements of Elastic Mechanisms. Crc Press.

———. 2005. Foundations of Ultra-Precision Mechanism Design. Vol. 2. CRC Press.

Soemers, Herman. 2011. Design Principles for Precision Mechanisms. T-Pointprint.