面内柔軟拘束を有する回転対偶

抄録

Flexible mechanisms are required for machines used in the place where people live. In this paper, the revolute pair with in-plane flexible constraint is proposed. This kinematic pair is composed of elastically constrained two curves, and has zero rotational stiffness and non-linear translational stiffness. To use it as a conventional 1 DOF revolute pair, a simple flexible link mechanism can be synthesized. The method to derive the curve of the pairing element to generate the specified translational stiffness is proposed. The stiffness characteristic of the prototype is measured and compared with the specified one. A link mechanism with the proposed pair is analyzed as an underactuated mechanism, and it is shown that the mechanism has flexibility and can generate the specified motion with an adequate accuracy.