Abstract
In this paper, the modeling of a double helical compliant joint and its characterization are introduced. The Double Helical Compliant Joint (DHCJ) was designed to increase the workspace in a compliant mechanism. The joint consists of leaf springs that are symmetrically arranged between two helical frames. The modified-type DHCJ was created to show several characteristics when some parameter is changed. Each leaf springs movement can be considered as a large deflection of elastic beam problem, from which the mathematical model of the joint can be constructed based on Chained Beam-Constraint Model method. To support mechanical design of the joint for a specific application, in which variability of characteristic according to each parameter is utilized. One DOF characterization apparatus was designed to characterize each joint specimen. Then load-displacement relationship can be experimentally investigated and compared with the solution of a mathematical model.
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Kittinanthapanya, R., Sugahara, Y., Matsuura, D., Takeda, Y. (2019). Modeling and Characterization of the Double Helical Compliant Joint. In: (Chunhui) Yang, R., Takeda, Y., Zhang, C., Fang, G. (eds) Robotics and Mechatronics. ISRM 2017. Mechanisms and Machine Science, vol 72. Springer, Cham. https://doi.org/10.1007/978-3-030-17677-8_17
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DOI: https://doi.org/10.1007/978-3-030-17677-8_17
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