Scholarlink

<p>Flexible hinges, known for their zero-clearance and frictionless features, are widely used in fields like continuum robotics. This paper presents a new flexible hinge design using the atlas method. The compliance matrix and parametric analysis show that the hinge has a relatively large compliance in bending, torsion and translation. This results in parasitic motion of the hinge during bending, which reduces the rotational accuracy. To counter this, an optimization of structural parameters is proposed. By deriving the equilibrium equation, geometric compatibility condition, and load-displacement equation based on an improved Awtar model, an optimal flexible-to-rigid plate length ratio of 0.57 was identified to ensure ideal rotational accuracy. Simulations and experiments show that the rotation accuracy of the optimized flexible hinge is greatly improved.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Design methodology and performance analysis of a novel flexible hinge for continuum robots

  • 期刊论文

  • 发表日期：

    2025年5月31日

查看全文
  • Xinyu Kuang,
  • Shouzhong Li,
  • Junli Li,
  • Tianfang Yu,
  • Linfeng Li,
  • Maorong Wang,
  • Yuansen Yue

摘要

Flexible hinges, known for their zero-clearance and frictionless features, are widely used in fields like continuum robotics. This paper presents a new flexible hinge design using the atlas method. The compliance matrix and parametric analysis show that the hinge has a relatively large compliance in bending, torsion and translation. This results in parasitic motion of the hinge during bending, which reduces the rotational accuracy. To counter this, an optimization of structural parameters is proposed. By deriving the equilibrium equation, geometric compatibility condition, and load-displacement equation based on an improved Awtar model, an optimal flexible-to-rigid plate length ratio of 0.57 was identified to ensure ideal rotational accuracy. Simulations and experiments show that the rotation accuracy of the optimized flexible hinge is greatly improved.