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Design method of planar three-degrees-of-freedom serial compliance device with desired compliancecharacteristics

Design method of planar three-degrees-of-freedom serial compliance device with desired compliancecharacteristics
학술지명 PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE ISSN 0954-4062
SCI 유무 SCI 게재연월 2012-08 Vol. 226 No. C9
표준화된 순위정보영향력지수 30.58 IF 0.473 Citation -

Design method of planar three-degrees-of-freedom serial compliance device with desired compliancecharacteristics
저자 ManBok Hong, YongJe Choi
초록
In this article, a novel method for the systematic design of a planar three-degrees-of-freedom compliance device with desired compliance characteristics is presented. For the realization of desired compliance, the synthesis method of stiffness of a planar mechanism is first derived. The compliance device may be directly realized by means of parallel connections of the synthesized springs. However, the use of several mechanical elements such as joints and guides for spring assemblies for the realization may cause significant complexity in manufacturing the compliance device with high precision and in compact size. In order to resolve the problem, the form of serial connections of three torsional springs which has the same compliance as the form of parallel connections of the synthesized line springs is proposed. The serial form of torsional springs can be physically realized by designing proper shape of the circular flexure hinge corresponding to each of the torsional springs. For the illustration of the proposed design method, a planar serial compliance device with high compliance to the normal contact force is designed and verified by finite element method analysis.
keyword Compliance device, flexure hinge, synthesis of stiffness, theory of screws

Design method of planar three-degrees-of-freedom serial compliance device with desired compliancecharacteristics
과제명 원격존재를 통한 감각-운동 작업을 위한 근전도 신호 기반의 동작의도 예측 및 능동 촉감 복원 기술 개발
연구기관 한국과학기술연구원 연구책임자 김기훈