Characterization of Bio-Inspired and Variable Stiffness Compliant Joints
Disciplines
Applied Mechanics | Biomechanical Engineering
Abstract (300 words maximum)
Compliant mechanisms gain their mobility thorugh the defomration of flexible (bendable) parts rather than the relative motion generated through neighboring links. Traditionally designed mechanism consist of rigid links connected with revolute joints. However, we look at nature, we see an entirely different approach. All the systems in nature are bendable and flexible, but still strong. This study presents the design, development, and characterization of a variable stiffness joint that can be utilized as a knee joint in pipedal robots, or an ankle/knee joint in assistive exoskeletons. We manufactured the prototypes by 3D printing the parts in polylactic acid and thermpolastic polyurethane so that the flexible joints are enclosed between an inner and outer PLA ring when subjected to internal torque. The testing was conducted using universal machine testing equipment. We also analyzed the motion deformation in Ansys for material characterization.
Academic department under which the project should be listed
SPCEET - Mechanical Engineering
Primary Investigator (PI) Name
Ayse Tekes
Characterization of Bio-Inspired and Variable Stiffness Compliant Joints
Compliant mechanisms gain their mobility thorugh the defomration of flexible (bendable) parts rather than the relative motion generated through neighboring links. Traditionally designed mechanism consist of rigid links connected with revolute joints. However, we look at nature, we see an entirely different approach. All the systems in nature are bendable and flexible, but still strong. This study presents the design, development, and characterization of a variable stiffness joint that can be utilized as a knee joint in pipedal robots, or an ankle/knee joint in assistive exoskeletons. We manufactured the prototypes by 3D printing the parts in polylactic acid and thermpolastic polyurethane so that the flexible joints are enclosed between an inner and outer PLA ring when subjected to internal torque. The testing was conducted using universal machine testing equipment. We also analyzed the motion deformation in Ansys for material characterization.