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Article
Analysis of Off-Axis Performance of Compliant Mechanisms with Applications to Mobile Millirobot Design
2009
  • Aaron M. Hoover, Franklin W. Olin College of Engineering
  • Ronald S. Fearing, University of California - Berkeley
Document Type
Conference Proceeding
Publication Date
10-1-2009
Disciplines
Abstract
We present an approach to quantifying the off-axis stiffness properties of parallel compliant mechanisms used in the design of mobile millirobots. By transforming the stiffness of individual flexure elements and rigid links comprising a compliant mechanism into a global coordinate system, we enable the formulation of an equivalent mechanism stiffness. Using that stiffness in concert with an energy-based performance metric, we predict theperformance of a compliant mechanism subjected to a prescribed set of forces in the global coordinate system. We analyze a flexure-based Sarrus linkage and use the performance metric to improve the design by adding topological redundancy. Finally, our approach is experimentally validated by constructing and testing SCM Sarrus linkages in a variety of geometries and topologies and demonstrating agreement between the model and our experiments.
Comments

© 2009 IEEE. This article was published in the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2770-2776 and may be found here.

Citation Information
Aaron M. Hoover and Ronald S. Fearing. "Analysis of Off-Axis Performance of Compliant Mechanisms with Applications to Mobile Millirobot Design" (2009)
Available at: http://works.bepress.com/aaron_hoover/5/