Spatial parallel compliant mechanism
First Claim
1. A spatial parallel compliant mechanism for interconnecting a support body to a floated body, the mechanism comprising:
- a plurality of passive elastic components connected in parallel between the support body and the floated body, each of the elastic components having a stiffness, a pitch and a longitudinal axis, and at least one of the elastic components being constructed and arranged to transmit force along and torque about its longitudinal axis.
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Abstract
A mechanism capable of achieving an arbitrarily specified spatial compliant behavior is presented. The mechanism is a parallel connection of multiple individual elastic components that connect a support body to a single compliantly floated body. Each elastic component is, in itself, a low friction 6 degrees of freedom (DOF) mechanism that provides compliant constraint along and/or about a single axis. The elastic components are of three functional types: 1) a "line spring" which resists only translation along its axis, 2) a "torsional spring" which resists only rotation about its axis, and 3) a "screw spring" which resists a specified combination of translation along and rotation about its axis. Through proper selection of the connection geometry, spring constant, and functional type of each elastic component, a spatial compliant mechanism capable of passive force guidance is realized.
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Citations
3 Claims
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1. A spatial parallel compliant mechanism for interconnecting a support body to a floated body, the mechanism comprising:
a plurality of passive elastic components connected in parallel between the support body and the floated body, each of the elastic components having a stiffness, a pitch and a longitudinal axis, and at least one of the elastic components being constructed and arranged to transmit force along and torque about its longitudinal axis. - View Dependent Claims (2, 3)
Specification