Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams

Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams

Amoozandeh, A. (TU Delft Mechatronic Systems Design)
Radaelli, G. (TU Delft Mechatronic Systems Design)
Herder, J.L. (TU Delft Precision and Microsystems Engineering)

Precision and Microsystems Engineering

2023

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 kinetostatic behavior from this type of asymmetric compliant beam over a relatively large range of motion. To accomplish this, a parametrization scheme was used to base the geometry of the beam on a limited number of control parameters. These parameters were then used as inputs for optimization in order to create beams with symmetric endpoint behavior. This process was further investigated using different sets of parameters. To validate the method's performance, experiments on prototypes were conducted. The results demonstrated a high degree of congruence with simulations of the anticipated behavior. Comparing to the non-optimized benchmark beam, the experimental performance of the resulting shapes demonstrated up to a 68% improvement in the desired symmetric behavior.

beam shape optimization
kinetostatic behavior
spatial compliant mechanisms

http://resolver.tudelft.nl/uuid:5c8f5f5c-bf67-47e6-b253-c91a35db9b45

https://doi.org/10.1115/1.4055419

1942-4302

Journal of Mechanisms and Robotics, 15 (4)

Institutional Repository

journal article

© 2023 A. Amoozandeh, G. Radaelli, J.L. Herder