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

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. 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.