digital-brain/content/zettels/flexible_joints.md

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

Tags :

Resources

Books:

• ^{(Lobontiu, 2002)}
• ^{(Henein, 2003)}
• ^{(Smith, 2005)}
• ^{(Soemers, 2011)}
• ^{(Cosandier, 2017)}

Flexure Joints for Stewart Platforms:

From ^{(Yixin Chen & 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

Lobontiu, N., Compliant mechanisms: design of flexure hinges (2002), : CRC press. ↩

Henein, S., Conception des guidages flexibles (2003), Lausanne, Suisse: Presses polytechniques et universitaires romandes. ↩

Smith, S. T., Foundations of ultra-precision mechanism design (2005), : CRC Press. ↩

Soemers, H., Design principles for precision mechanisms (2011), : T-Pointprint. ↩

Cosandier, F., Flexure Mechanism Design (2017), Boca Raton, FL Lausanne, Switzerland: Distributed by CRC Press, 2017EOFL Press. ↩

Chen, Y., & McInroy, J., 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) (pp. ) (2000). : . ↩

Backlinks

• [Nanometre-cutting machine using a stewart-platform parallel mechanism]({{< relref "furutani04_nanom_cuttin_machin_using_stewar" >}})
• [Dynamic modeling and experimental analyses of stewart platform with flexible hinges]({{< relref "jiao18_dynam_model_exper_analy_stewar" >}})
• [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
• [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" >}})
• [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})
• [Dynamic modeling of flexure jointed hexapods for control purposes]({{< relref "mcinroy99_dynam" >}})
• [Identification and decoupling control of flexure jointed hexapods]({{< relref "chen00_ident_decoup_contr_flexur_joint_hexap" >}})