design and fabrication of multimaterial flexible mechanisms with ...

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112Figure 4.35: Photograph of failed a08Figure 4.36: Photograph of failed a01
113Figure 4.37: Photograph of failed a02Figure 4.38: Photograph of failed a05
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DESIGN AND FABRICATION OF MULTIMATE
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I certify that I have read this dis
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or in bulk. Consideration of fabric
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my parents busy at home while I’v
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2.2.1 Application, modeling, and th
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List of Tables3.1 Design and materi
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4.1 Coordinate system definition .
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Chapter 1IntroductionJuu yoku gou w
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31.1.1 Conventional fabricationOne
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5referred to as sacrificial materia
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7Figure 1.2: SDM robot featuring em
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9stiffness limitations of flexures.
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Chapter 2Previous WorkIn order to p
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132.1.2 Previous component embeddin
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15have produced a very similar flex
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17• bonding.The material is large
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193.1 IntroductionThere are several
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213.2.1 Materials and manufacturing
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233.3 Partial and cross-boundary em
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25• Bulk removal: Uncontrolled ma
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27for the pre-encapsulation process
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29Suspending fixture methodAnother
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31Selective material removal takes
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3412I-3I-4Create mold and fixturePl
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37Figure 3.9: Finished mechanism wi
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39that is anchored in solid polymer
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41Figure 3.12: Photograph of the fi
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43SU-8 (photocurable polymer)Embedd
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45V-1V-2V-3V-4Create a tight mold f
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47and risk elimination of flexible
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49Pseudo-boundary formation Pre-enc
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51STARTDesign / RedesignDirect boun
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53obstructed by it, and avoiding st
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Chapter 4Stiffness modification of
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57Let us assume the flexure to have
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59The suggested fiber configuration
Page 75 and 76: Figure 4.2: Each column illustrates
Page 77 and 78: Figure 4.4: The cones in the lower
Page 79 and 80: 65based on the strain condition at
Page 81 and 82: 67effectively produce 18[Nmm] of to
Page 83 and 84: 69The stiffness ratio between pitch
Page 85 and 86: 71rotY5.004.004.20rotY7653.002.001.
Page 87 and 88: 73rotY5.004.003.00rotY76542.001.001
Page 93 and 94: 79rotY5.004.003.004.49rotY76543.932
Page 95 and 96: 81rot Y5.00rot Y74.0065rot -X3.002.
Page 97 and 98: 83the significant Y stiffening and
Page 101 and 102: 87rot Y5.00rot Y7rot -X4.003.002.00
Page 105 and 106: 91The strings are configuredas in a
Page 107 and 108: 93a05a19a11a06a01ControlFigure 4.25
Page 109 and 110: 95Machine mold cavity for rigid end
Page 111 and 112: 97largely prevented to simplify mea
Page 113 and 114: 99Control piecePlease see figure 4.
Page 115 and 116: 101rotY5.00rotY74.003.002.001.004.2
Page 119 and 120: 105rotY5.004.003.004.49AnalysisrotY
Page 121 and 122: 107rotY5.004.003.004.82AnalysisrotY
Page 123 and 124: 109for the geometric nonlinearity,
Page 125: 111X-bendY-bendZ-torsionControla01M
Page 129 and 130: 115evidence of elastomer infiltrati
Page 131 and 132: 117elastomer, similar to those obse
Page 133 and 134: Chapter 5Conclusion5.1 SummarySever
Page 135 and 136: 121via embedded wiring that runs ac
Page 137 and 138: 123Ashby, M. (1999). Materials Sele
Page 139 and 140: 125Cooper, A. (1999). Fabrication o
Page 141 and 142: 127Li, X., Stampfl, J., and Prinz,
Page 143 and 144: 129Nutt, K. (1991). Selective laser
Page 145 and 146: 131Stubbs, N. and Thomas, S. (1984)
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