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 (MMAM), 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.