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A Fully Compliant Pendulum Balancer with a Spherical Range of Motion

Conference Paper (2025)
Author(s)

Riley Barendse (Student TU Delft)

G. Radaelli (TU Delft - Mechatronic Systems Design)

Research Group
Mechatronic Systems Design
DOI related publication
https://doi.org/10.1007/978-3-031-95489-4_9
More Info
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Publication Year
2025
Language
English
Research Group
Mechatronic Systems Design
Bibliographical Note
Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.@en
Pages (from-to)
98-116
ISBN (print)
978-3-031-95488-7
ISBN (electronic)
978-3-031-95489-4
Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Abstract

This paper introduces a fully compliant spherical joint with a stiffness profile specifically optimized for balancing a pendulum. The design builds on previous work where a fully compliant spherical joint was created using tetrahedron-shaped elements connected in series. Using a numerical simulation, optimizations are conducted for two different ranges of spherical motion. Based on one of the optimized results, a prototype is fabricated and experimentally validated, achieving a moment reduction of 90.5%. The deformation calculated by the computational tool closely matches the prototype’s deformation with an accuracy of 89.6%, demonstrating its potential for application in the development of shoulder exoskeletons.

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- Embargo expired in 25-12-2025
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