The Development of a Split-Tube Flexure

Abstract

Abstract This paper describes the design of a flexure joint, called the split-tube flexure, which can provide a considerably larger range of motion and significantly better multi-axis revolute joint characteristics than a conventional beam-type flexure. Specifically, the flexure joint contrasts the torsional compliance of a thin-walled open-section member with its bending rigidity to produce kinematically well-behaved revolute motion. The joint proves particularly useful in applications requiring kinematically well-behaved large motions, such as in robot manipulators.