NDLI: Realizing Orthogonal Motions With Wire Flexures Connected in Parallel

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Su, Hai-Jun Tari, Hafez
Copyright Year	2010
Abstract	In this paper, we study the synthesis of wire flexures to achieve orthogonal motion by using a recently developed screw theory based approach. For a given desired mobility pattern, our goal is to find a system of wire flexures that are simply connected in parallel between the functional stage and the ground. It has been shown that a wire flexure is essentially a pure force or a line screw. An n dof motion space (allowable motion) is realizable if its reciprocal constraint space can be spanned by 6 – n line screws or forces. We first enumerate all possible one to five degree of motion spaces that are formed by motions along the coordinate axes attached on the functional stage. For each of these 34 motion spaces, we apply the screw theory approach to find its reciprocal force space as well as its rank. We conclude that 18 of them are realizable, 4 are realizable only when their pitches have opposite signs and 12 are not realizable. For each of these 34 cases, we provide an example showing the maximum number of independent wire flexures.
Sponsorship	Design Engineering Division and Computers in Engineering Division
Starting Page	503
Ending Page	512
Page Count	10
File Format	PDF
ISBN	9780791844106
DOI	10.1115/DETC2010-28517
e-ISBN	9780791838815
Volume Number	Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2010-08-15
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Space Mechanical admittance Bending (stress) Wire Screws
Content Type	Text
Resource Type	Article

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