Keywords flexure hinge, stiffness, rotational precision, hinge index. Theoretical calculation and finite element software ansys are both used to acquire the optimum dimensional parameters of the mechanism. A flexible multibody modeling approach is used for efficient modeling. Modelbased design of flexure hinges for rectilinear guiding with. Design and analysis of a highaccuracy flexure hinge. Experimental and finite element analyses suggest that a nonsymmetric elliptical flexure hinge is the most suitable type for use in the soft monolithic robotic finger. Tamarack habilitation technologies tamarack flexure joint. Although various flexure hinges with different configurations have been successively proposed, they are often designed based on designers experiences and inspirations. A cantilever is a flexural beam rigidly supported at one end only. Flexure hinge mechanism and piezoelectricactuator selffeatures. Pdf analysis and design of symmetric notch flexure hinges. It is enhanced with empirical functions set up with the help of fem. Standard export powerpoint slide the modeling effort so far, to the best of the authors knowledge, has regarded the torsional flexure hinges as constant rectangular crosssection members, an example being the paper by zhang et al.
With the width w of a circular flexure from 300 to 500. Flexure blades are formed by pairs of adjacent apertures with the slots. Pdf this article presents the analytic models of four types of flexure hinges elliptic, circular, parabolic, and hyperbolic flexure hinges. Large deformation analysis for flexure hinged displacement. Riverhawk flexural pivot bearing document downloads flex. A cantilever flexure is a single leaf or notched flexure rigidly clamped between the two sections of a mechanism with one fixed and one free to rotate. Department of precision instruments and mechanology, tsinghua university, beijing 84, china. Flexure bearings serve much of the same function as conventional bearings or hinges in. The flexure hinge of claim 15 wherein the at least one recess has an outline in a direction y and direction z plane in which. Design of a flexural hinge mechanism for turbo slits. Design and performance analysis of a tlettype flexure hinge. A jpe precision point sheet about the formulas of flexure hinge design and flexure hinge stiffness to benefit your play free and frictionless system design.
Principles of microscale flexure hinge design for enhanced endurance. The simplest form of flexural hinge is the cantilever flexure. Multiobjective design optimization of flexure hinges for. Geometrical dimensions include the hinge length, the hinge thickness, the side height, the rigid beam width, the total height. Riverhawk flexural pivot bearing document downloads flex pivots. On mechanical properties of planar flexure hinges of. A precision stage employing a lever mechanism and flexure hinges is analyzed theoretically, with bending in the lever considered.
The flexure hinges are the most vulnerable parts in a flexurebased mechanism due to their smaller dimensions and stress concentration characteristics, therefore evaluating the maximum stresses generated in them is crucial for assessing the workspace and the fatigue life of the mechanism. The geometrical parameters of the constant rectangular cross section flexure hinge are shown in figure 1 with its coordinate system whose origin is located at the free end of the hinge, and axis and axis are in the longitudinal and height directions, respectively. Dec 24, 1985 the double flexure hinge 35, 36 formed by recesses 30, 31 and 32 is identical to the double flexure hinge 25, 26 formed by recesses 20, 21 and 22 in all respects except that the common recess 20 for double hinge 25, 26 is formed through edge 24 of arm 16, whereas the common recess 30 of double hinge 35, 36 is formed through opposite edge 23. Flexure bearings serve much of the same function as conventional bearings or hinges in applications which require angular compliance. Generalized equations for estimating stress concentration. In many mems applications, however, it is rather difficult to obtain this geometric configuration by means of regular etching techniques because. At present, there is much research in the design of flexible hinges, such as the proposed cross reed flexure hinge, the generalized threecross reed flexure hinge, the inner and outer ring flexure hinge, and so on. Linear flexure bearings consist of vertically oriented flexure elements held into place on the top and bottom by rectangular mounting blocks. Download it once and read it on your kindle device, pc, phones or tablets. Pdf modeling and design of flexure hingebased compliant. Abstract this paper presents the analytic flexure hinge, involved in design optimization for a compliant mechanism, as a one. Download the art of flexure mechanism design ebook pdf or read online books in pdf, epub, and mobi format. Us4143451a method of manufacturing a flexure hinge.
A three degrees of freedom dof parallel robot x, y, z that is a transposition in a flexible structure of the delta robot kinematics is presented. A novel piezostackdriven jetting dispenser with corner. A universal analytical method is adopted for flexure hinges. However, flexures require no lubrication and exhibit very low or no friction. A flexure hinge is a flexible connector that can provide a limited rotational motion between two rigid parts by means of material deformation.
Flexure hinges and torsion suspensions are devices which connect or transmit load between two components while. A flexure bearing is a category of flexure which is engineered to be compliant in one or more angular degrees of freedom. Rules of thumb for manufacturability versus hinge functionality. Large stroke performance optimization of spatial flexure. Design of flexure hinges in an hdrive precision stage with a large.
Us4143451a method of manufacturing a flexure hinge assembly. Parametric study of circular micro flexure hinge design. Principles of microscale flexure hinge design for enhanced. Thus, the validity of the analytic computation formula is verified, realize accurate design and computation for such flexure hinges is realized, and. Jan 20, 2014 the flexure hinges are the most vulnerable parts in a flexure based mechanism due to their smaller dimensions and stress concentration characteristics, therefore evaluating the maximum stresses generated in them is crucial for assessing the workspace and the fatigue life of the mechanism. Preferred for their simplicity, as they can be included as a feature in a single piece of material as in a tic tac boxs lid. Dec 07, 2017 the flexure hinge of claim 15 wherein the at least one recess has an outline in a direction y and direction z plane in which. Design of flexure hinges kindle edition by lobontiu, nicolae. Dec 14, 2007 from this study, the following parameters were established as design guide for a circular micro flexure hinge. A design method for flexurebased com pliant mechanisms on. Design of flexure hinges provides practical answers and directions to the needs of efficiently designing, analyzing, and optimizing devices that include flexure hinges. Each of these hinge types is described by a parameterized geometric model. Jul 25, 2002 the design equations are the result of an exact deduction and are concise in their expressions, so it is more convenient to use them in calculating and analyzing flexure hinges and flexure hinge mechanisms. Lever mechanisms are usually used to enlarge output displacements in precision stages.
The closedform compliance equations of the flexure hinge were derived to design the powerfunctionshaped flexure hinges and could achieve higher motion accuracy than the commonly used circular flexure hinge and vshaped flexure hinge. Ruiling duan, yuhe li, qingxiang li, and juan gong design and analysis on microworktable using novel symmetric flexure hinge based on microassembly, proc. In this contribution, the potential of improving the motion precision as well as the motion range by specific design of the flexure hinge dimensions and in particular. The rod is supported by an elastic beam flexure hinge, both being originally horizontal. More importance is given to practiceoriented flexure hinge types in terms of costsaving manufacturability, i. Stiffnessoriented design of a flexure hingebased parallel. Fused deposition modeling, a lowcost 3d printing technique, was used to fabricate the flexure hinges and the soft monolithic robotic fingers.
A first recess is defined partway through the body member at one longitudinally extending edge opposite second and third recesses defined through the opposite longitudinallyextending edge of the body. The microgripper is designed, and a comparison study on stress and displacement is done by varying the hinge parameters such as the hinge radius, web thickness, position of flexure hinge, and radius of curvature of hinges. The flexure hinge is a special mechanical component that produces the limited angular motion utilizing the microelastic deformation of the material, which possesses the advantages of no friction, zero backlash, high sensitivity, and so on. Multiobjective optimization of flexure hinge mechanism. Large stroke performance optimization of spatial flexure hinges. The slit mechanism has been built and the deflection load performance experimentally validated.
The operation of flexure hingebased parallel manipulators primarily relies on their stiffness or compliance characteristics, which are considered by means of an analytical method, the finite element method fem or an experimental method. Use features like bookmarks, note taking and highlighting while reading compliant mechanisms. This arrangement is aimed to enhance the displacement of the joint. Design of flexure hinges provides practical answers to the present and future needs of efficient design, analysis, and optimization of devices that incorporate flexure hinges. Flexure hinge has been widely used in high precision micropositioning mechanism and the most common type is right circular flexure hinge. Modeling and design of flexure hingebased compliant mechanisms. A design method for flexurebased com pliant mechanisms. Pdf download for analysis and design of symmetric notch flexure. Simulation results showed that stiffness and accuracy of the modified doubleparallelogram flexure hinge mechanism are higher than general doubleparallelogram flexure hinge mechanism, and output displacement linearity is better than singleparallelogram flexure hinge mechanism. This paper designs and analyzes a new kind of flexure hinge obtained by using a topology optimization approach, namely, a quasivshaped flexure hinge qvfh. The proposed joint is capable of generating a large.
Calculation on rotation stiffness of asymmetrical right. Research on zerostiffness flexure hinge zsfh based on. Click download or read online button to the art of flexure mechanism design book pdf for. It contains readytouse plots and simple equations describing several flexure types for the professional that needs quick solutions to current applications.
Topological and shape optimization of flexure hinges for. The obtained optimal hinge designs are validated with a finite element model and show good agreement. The tlet consists of flexure hinges in a series coupled with others in parallel configuration. Analysis and design of symmetric notch flexure hinges ning. Leaf springs are commonly used in vehicle suspensions. Oct 08, 2001 in this paper, we propose backlashfree and frictionfree manipulators using flexure hinges and direct drive actuators.
We print the stage such that the hinge axes all lie in the horizontal plane. The scanning mechanism incorporating the slits has been demonstrated in the laboratory. Flexure hinge the united states of america as represented. Firstly, asymmetrical right circular flexure hinge is presented and the structure factor is introduced in the paper according to the size of the cutting arc radius of both sides of right circular flexure hinge. The art of flexure mechanism design download the art of flexure mechanism design ebook pdf or read online books in pdf, epub, and mobi format. Different from conventional hinge, monolithic flexure hinge has the advantages of no friction, no. A design method for flexurebased compliant mechanisms on the basis of stiffness and stress characteristics presentata da. Firstly, a displacement amplifying mechanism with a cornerfilleted flexure hinge hereafter referred to as a flexible hinge is proposed, and the type of piezoelectric actuator is determined. In this paper, a new twodimensional, compliant, monolithic piezoactuated microgripper using flexure hinges is reported. A onepiece 3d printed flexure translation stage for open.
Torsional stiffness of several variable rectangular cross. Optimal design of a flexurehinge precision stage with a. For zero stiffness flexure hinges, matching the appropriate negative stiffness module is the key. Jan 23, 2010 in this paper, a new twodimensional, compliant, monolithic piezoactuated microgripper using flexure hinges is reported. Analysis and design of symmetric notch flexure hinges. A flexure hinge is a major component in designing compliant mechanisms that offers unique possibilities in a wide range of application fields in which high positioning accuracy is required. Relations between design parameters and magnification ratio, and the optimal values for the parameters to achieve a longer stage displacement are presented.
Leaf springs are an example of a flexure system with one compliant degree of freedom. This paper presents a method for large deformation analysis for flexure hinged displacement amplifier by minimum potential energy. Design and analysis on microworktable using novel symmetric. Ieeersj international conference on intelligent robots and systems iros. A flexure hinge assembly comprising a pair of fixed telescopes inner and outer tubular members separated into at least one driving portion, at least one gimbal portion and at least one driven portion and a plurality of flexure blades all formed by a plurality of slots and apertures through the walls of each tubular member.
Empirical compliance equations for constant rectangular. The transverse loads cause internal shear forces and bending moments in the beams as shown in figure 1 below. Design of flexure hinges in an hdrive precision stage with a large span. Several objective functions simultaneously arise in optimization to enhance the magnification factor in improving the mechanisms performance. Research on zerostiffness flexure hinge zsfh based on spring fourbar linkage4bsl author links open overlay panel tian liu a shusheng bi a yanbin yao b zhaohui dong c qizi yang a lang liu d. From this study, the following parameters were established as design guide for a circular micro flexure hinge. In this paper, we propose backlashfree and frictionfree manipulators using flexure hinges and direct drive actuators. An improved flexure hinge permits both angular pivoting and longitudinal expansion and contraction and is made of a body member of solid material which is normally not flexible or expandable. Click download or read online button to the art of flexure mechanism design book pdf for free now. Flexure bearings are often part of compliant mechanisms. Riverhawks linear flexure bearings are used for shockvibration dampers and cam followers with linkages in various industries. Download pdf the art of flexure mechanism design free.
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