The design of a 2-DOF compliant mechanism for describing closed spatial surfaces, with intended application as leg in omnidirectional walking machines
C.J. van der Geer (TU Delft - Mechanical Engineering)
F.G.J. Broeren – Mentor (TU Delft - Mechatronic Systems Design)
Just Herder – Graduation committee member (TU Delft - Precision and Microsystems Engineering)
Johannes Goosen – Graduation committee member (TU Delft - Computational Design and Mechanics)
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Abstract
This report presents the design of a 2-DOF compliant mechanism, capable of describing a closed spatial surface. The mechanism is designed with the intended application as leg in an omnidirectional walking machine. Therefore, a conceptual design of a way of coupling a multitude of these mechanisms is also presented. By means of a kinematic analysis it will be shown that the design is able to describe this surface, making it suitable for its intended purpose. Measurements of a physical prototype qualitatively confirm the functioning of the device without external loads, after production by means of additive manufacturing. Furthermore, an analysis of the deviations with respect to the created purely kinematic model is performed, indicating the most prominent improvement directions. This creates a first step towards a compliant walking machine, capable of translating in any direction over its supporting surface.