Lamina emergent mechanisms (LEMs) are compliant mechanisms that can be manufactured from planar materials and are capable of motion out of the plane of manufacture. Spherical LEMs combine the unique motion of spherical mechanisms with the compactness and simple topology of LEMs. The fundamentals of spherical LEMs are discussed in this work. It is found that 21 of the 33 possible spherical 4R types can be spherical LEMs. A classification based on these 21 possible types is developed. This classification is used to predict motion capabilities of spherical 6R, and Equintet mechanisms. It is also applied to arrays of spherical mechanisms. The extreme compactness and sophisticated motion of spherical LEMs makes them candidates for application that are weight and volume sensitive and may find use in future surface morphing applications.
This work introduces three joints to allow motion in lamina emergent mechanisms (LEMs) that were designed to have minimal parasitic motion under tension, compression, and a combination of tension and compression loading. Closed-form models of the joints were developed and combined with optimization algorithms for maximum flexibility in bending and then modeled using finite element analysis (FEA). The FEA results were used to predict the stiffnesses of the joints in bending, tension, and compression. As a baseline, lamina emergent torsional (LET) joints were designed to match the bending stiffness of each of the joints, so that the tensile-compressive performance could be compared. The joints demonstrate improved off-axis stiffness in tensile and/or compressive stiffness, at the cost of limited bending flexibility compared to the LET joint and requiring more material area. The resulting joints provide a broad set of capabilities that can be used by designers in lamina emergent mechanism design.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.