design and fabrication of multimaterial flexible mechanisms with ...

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10The flexure strength and stiffness modification work allows better realizationof flexure design specifications within dimensional constraints and limited materialchoice while maintaining design and fabrication simplicity. It also broadened the potentialapplication areas for flexures by overcoming their disadvantages. Furthermore,it provides a starting point for related applications such as flex sensor developmentand through-flexure wiring design.
Chapter 2Previous WorkIn order to prepare for cross-boundary embedding and fiber reinforcement of flexures,related works both in and outside SDM were studied. Component embedding workhas been demonstrated mainly in mass production and SDM. On the other hand,there are difficulties encountered in other rapid prototyping methods. Fiber reinforcementhas been long practiced by humans in various areas, mostly for structuralstrengthening. Some of the composite structures have also been modeled and studied.There have also been applications of anisotropic fiber stiffening for producing actuators.Finally, modeling and analysis methods for elastomer structures were studiedto aid the design of fiber-reinforced flexures.2.1 Previous work on component embedding2.1.1 Previous component embedding work: Non-SDMAlthough SDM is arguably the rapid prototyping process that most invites componentinsertion, due to its alternating additional and removal processes and comparativelysmall number of process layers, the problem of embedding components has also beenaddressed for other rapid prototyping processes. In discussing approaches for creatingprototypes containing discrete parts of a dissimilar material, it is useful to distinguish11
Page 1 and 2: DESIGN AND FABRICATION OF MULTIMATE
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Page 31 and 32: 17• bonding.The material is large
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Page 43 and 44: 29Suspending fixture methodAnother
Page 45 and 46: 31Selective material removal takes
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Page 51 and 52: 37Figure 3.9: Finished mechanism wi
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Page 55 and 56: 41Figure 3.12: Photograph of the fi
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Figure 4.2: Each column illustrates
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Figure 4.4: The cones in the lower
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65based on the strain condition at
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67effectively produce 18[Nmm] of to
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69The stiffness ratio between pitch
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71rotY5.004.004.20rotY7653.002.001.
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73rotY5.004.003.00rotY76542.001.001
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75rotY5.004.003.00rotY76542.001.001
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77rotY5.004.003.00rotY76542.001.001
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79rotY5.004.003.004.49rotY76543.932
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81rot Y5.00rot Y74.0065rot -X3.002.
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83the significant Y stiffening and
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85rot Y5.00rot Y74.0065rot -X0.303.
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87rot Y5.00rot Y7rot -X4.003.002.00
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89rot Y5.00rot Y74.0065rot -X0.343.
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91The strings are configuredas in a
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93a05a19a11a06a01ControlFigure 4.25
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95Machine mold cavity for rigid end
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97largely prevented to simplify mea
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99Control piecePlease see figure 4.
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101rotY5.00rotY74.003.002.001.004.2
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103rot Y5.00rot Y74.006rot -X3.002.
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105rotY5.004.003.004.49AnalysisrotY
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107rotY5.004.003.004.82AnalysisrotY
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109for the geometric nonlinearity,
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111X-bendY-bendZ-torsionControla01M
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113Figure 4.37: Photograph of faile
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115evidence of elastomer infiltrati
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117elastomer, similar to those obse
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Chapter 5Conclusion5.1 SummarySever
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121via embedded wiring that runs ac
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123Ashby, M. (1999). Materials Sele
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125Cooper, A. (1999). Fabrication o
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127Li, X., Stampfl, J., and Prinz,
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129Nutt, K. (1991). Selective laser
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131Stubbs, N. and Thomas, S. (1984)
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