[1E2] Monitoring compliant mechanisms for extreme robot applications
M G Lipsett, B Martens and B Ofovwe
University of Alberta, Canada
Compliant mechanisms use elastic elements to permit motion that would otherwise be accomplished by a conventional mechanism with links, shafts and bearings. The advantages of simplicity of additive manufacture with modest tolerances are offset by the challenge of dealing with off-axis motions, undesired natural frequencies and fatigue. A methodology for design is presented for a compliant rotary joint. Simulations are presented with results of experimental characterisation to date. An observability metric is suggested so that off-axis motion, natural frequencies and fatigue can be monitored for critical applications. Future work to develop a deployable satellite boom is described.
