Design and Modeling of a Large Amplitude Compliant Revolute Joint: The Helical Shape Compliant Joint

Abstract

In this paper, the design and modeling of a large amplitude compliant revolute joint are introduced. Based on the implementation of multimaterial additive manufacturing (MM-AM), the joint is of interest for robotic contexts where the design of compact and accurate compliant mechanisms is required. The joint design is first experimentally proven to offer a large range of motion and satisfying kinetostatic properties. A parametric study is then conducted using numerical simulation to define the most interesting geometries. An experimental study is in a third step presented to estimate the rotational stiffness, including the manufacturing impact. A stiffness model is provided for relevant geometries, and their use is finally discussed in the context of compliant mechanism design.