Abstract
This paper presents recent research in the design of continuous structures that deflect to achieve a specified movement. The procedure starts with a graph that describes the structure as vertices and edges with a designated workpiece, i.e. a platform whose movement is of interest. The size and shape of these graph elements are transformed and the associated deflection is optimized to achieve the desired workpiece movement. Example calculations yield a continuous structure that deflects so its platform follows a rectilinear movement and another structure that coils upward with evenly spaced angles. A physical version of the formerly mentioned structure was fabricated using additive manufacturing and is shown to exhibit the predicted movement.
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Suh, W.R., Peraza Hernandez, E.A., McCarthy, J.M. (2022). Design of Continuum Mechanisms with Target Motions. In: Larochelle, P., McCarthy, J.M. (eds) Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics. USCToMM MSR 2022. Mechanisms and Machine Science, vol 118. Springer, Cham. https://doi.org/10.1007/978-3-030-99826-4_19
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DOI: https://doi.org/10.1007/978-3-030-99826-4_19
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