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

Backlinks

  • [Identification and decoupling control of flexure jointed hexapods]({{< relref "chen00_ident_decoup_contr_flexur_joint_hexap" >}})
  • [Dynamic modeling and experimental analyses of stewart platform with flexible hinges]({{< relref "jiao18_dynam_model_exper_analy_stewar" >}})
  • [A six-axis single-stage active vibration isolator based on stewart platform]({{< relref "preumont07_six_axis_singl_stage_activ" >}})
  • [Investigation on active vibration isolation of a stewart platform with piezoelectric actuators]({{< relref "wang16_inves_activ_vibrat_isolat_stewar" >}})
  • [Nanometre-cutting machine using a stewart-platform parallel mechanism]({{< relref "furutani04_nanom_cuttin_machin_using_stewar" >}})
  • [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
  • [Dynamic modeling of flexure jointed hexapods for control purposes]({{< relref "mcinroy99_dynam" >}})
  • [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})

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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.

Bibliography

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), nil. https://doi.org/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.

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

Smith, Stuart T. 2005. Foundations of Ultra-Precision Mechanism Design. Vol. 2. CRC Press.

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