A Curved Compliant Differential Mechanism With Neutral Stability

Differential mechanisms are remarkable mechanical elements that are widely utilized in various systems; nevertheless, conventional differential mechanisms are heavy and difficult to use in applications with limited design space. This paper presents a curved differential mechanism that utilizes a lightweight, compliant structure. This...

Compliant variable negative to zero to positive stiffness twisting elements

Compliant mechanisms have the potential to be utilized in numerous applications where the use of conventional mechanisms is unfeasible. These mechanisms have inherent stiffness in their range of motion as they gain their mobility from elastic deformations of elements. In most systems, however, complete control over the elasticity is desired....

A compliant Continuously Variable Transmission (CVT)

Continuously Variable Transmissions (CVT) can serve as subsystems for a variety of machineries and robotic systems. A compliant CVT mechanism based on the warping of twisting beams is presented here. The design works based on the demonstrated fact that the twist on one side of a beam can be transferred via sectional warping and propagate...

Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams

A cantilevered rod's endpoint has a symmetric stiffness profile throughout its range of motion. Generally, this is not the case for spatially curved compliant beams, particularly if they are asymmetric, i.e., their fixation is not in the symmetry plane of their endpoint operating field. This paper discusses a technique for obtaining symmetric...

A Curved Compliant Differential Mechanism With Neutral Stability

Differential mechanisms are remarkable mechanical elements that are widely utilized in various systems; nevertheless, conventional differential mechanisms are heavy and difficult to use in applications with limited design space. In this paper, a curved lightweight compliant type of differential mechanism is presented. This mechanism acquires...

Characterization of spatially curved beams with anisotropically adaptive stiffness using sliding torsional stiffeners

Compliant mechanisms (CM) with adaptive stiffness have been widely used in robotics and machine design applications. This paper proposes adapting the endpoint stiffness of a spatially curved compliant beam using a movable torsional stiffener and a new graphical characterization method for the resulting anisotropic stiffness of the endpoint...

Neutrally stable transition of a curved-crease planar shell structure

Elastic neutral stability in compliant mechanisms is a remarkable appearance since it requires the energetic state of the structure to remain unchanged during a deformation mode. Several examples in literature require either plastic deformation or external constraints to be enforced to obtain a state of pre-stress and often require the use of...

A Design Tool for Passive Wrist Support

A design tool for passive wrist support using compliant spatial beams as gravity balancer is presented. The aim of this assistive device is to reduce required effort for pronation-supination and flexion-extension by 70% to help patients with muscular weakness keeping their hand’s posture and doing daily tasks, while the forearm is rested. To...

Asymmetric Spatial Beams with Symmetric Kinetostatic Behaviour

A method to achieve symmetric kinetostatic behaviour in an extensive working range at the endpoint of an asymmetric spatial beam, using cross-section optimization, is presented. The objective function of the optimization is defined as expanding the beam working range to the desired region, simultaneously maximizing symmetric behaviour in it....