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- W2075489463 abstract "Adaptable to nonstructural environment, compliant joints are competent candidates for flexure fingers in humanoid robotic hands. This paper presents an equivalent pin model (EPM), which provides an in-depth understanding on flexure finger dynamics by accounting for the moving rotation center and varying radius of a compliant joint. Distinguished from other lumped-parameter formulations based on constant-axis pin-joint approximation, the large deformation of a compliant joint is characterized by closed-form solutions obtained from a distributed Euler–Bernoulli (E–B) beam model. Modeling tolerance guidelines derived by comparing the E–B model against finite element analysis (FEA) without neglecting shear distortions are provided for designing dimensions of a compliant joint. Design evaluation is illustrated with a flexure finger consisting of three phalanxes by comparing the maximum stress among different configurations. The EPM reveals critical effects of rotational center-offset and varying radius on the dynamic response of a flexure finger, showing that the negligence of these effects yields an out-of-phase prediction in joint rotation. Although presented in the scope of finger manipulation, the method is expected to have potential applications for multi-body dynamics involving compliant mechanisms." @default.
- W2075489463 created "2016-06-24" @default.
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- W2075489463 date "2013-12-01" @default.
- W2075489463 modified "2023-09-26" @default.
- W2075489463 title "Compliant joint design and flexure finger dynamic analysis using an equivalent pin model" @default.
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- W2075489463 doi "https://doi.org/10.1016/j.mechmachtheory.2013.08.001" @default.
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