Study of a fully compliant U-joint designed for minirobotics applications
By: Palmieri, G
.
Contributor(s): Palpacelli, M. C.
Publisher: New York ASME 2012Edition: Vol.134(11), Nov.Description: 1-9p.Subject(s): Mechanical EngineeringOnline resources: Click here
In:
Journal of mechanical designSummary: The paper proposes the study of the kinetostatic behavior of a flexible universal joint for minirobotic applications. A closed-form formulation of joint’s compliance is obtained for linear elastic material and small displacements. It is also presented a numerical study that considers the joint realized with a superelastic shape memory alloys (SMA) material (Ni–Ti alloy); in this case, a finite element (FE) approach is used to overcome the strong nonlinearities arising from both the superelastic constitutive law and the large displacements. Besides the compliance properties of the joint, also kinematic performances are investigated, since the instantaneous rotation axis is expected to be floating around its ideal position because of parasitic elastic deformations.
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Articles Abstract Database
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School of Engineering & Technology Archieval Section | Not for loan | 2024-0747 |
The paper proposes the study of the kinetostatic behavior of a flexible universal joint for minirobotic applications. A closed-form formulation of joint’s compliance is obtained for linear elastic material and small displacements. It is also presented a numerical study that considers the joint realized with a superelastic shape memory alloys (SMA) material (Ni–Ti alloy); in this case, a finite element (FE) approach is used to overcome the strong nonlinearities arising from both the superelastic constitutive law and the large displacements. Besides the compliance properties of the joint, also kinematic performances are investigated, since the instantaneous rotation axis is expected to be floating around its ideal position because of parasitic elastic deformations.
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