design and fabrication of multimaterial flexible mechanisms with ...

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32(1) Create mold and fixture(2) Place flexible component(I)(II)(III)(IV)(I-3) Selectively depositpart material A(II-3) Bulk depositpart material A(III-3) Selectively depositsacrificial material(IV-3) Bulk depositsacrificial material(I-4) Bulk depositpart material B(II-4) Selectively removepart material A(III-4) Bulk depositpart material A(IV-4) Selectively removesacrificial material(II-5) Bulk depositpart material B(III-5) Bulk removesacrificial material(IV-5) Bulk depositpart material A(III-6) Bulk depositpart material B(IV-6) Bulk removesacrificial material(IV-7) Bulk depositpart material BRemove fixtureFill fixture cavitiesExtract from moldFigure 3.5: Process chart for the four main methods for partial and cross-boundaryembedding: (I) selective material deposition, (II) selective material removal, (III)selective deposition of sacrificial material, (IV) selective removal of sacrificial material.
Page 1 and 2: DESIGN AND FABRICATION OF MULTIMATE
Page 3 and 4: I certify that I have read this dis
Page 5 and 6: or in bulk. Consideration of fabric
Page 7 and 8: my parents busy at home while I’v
Page 9 and 10: 2.2.1 Application, modeling, and th
Page 11 and 12: List of Tables3.1 Design and materi
Page 13 and 14: 4.1 Coordinate system definition .
Page 15 and 16: Chapter 1IntroductionJuu yoku gou w
Page 17 and 18: 31.1.1 Conventional fabricationOne
Page 19 and 20: 5referred to as sacrificial materia
Page 21 and 22: 7Figure 1.2: SDM robot featuring em
Page 23 and 24: 9stiffness limitations of flexures.
Page 25 and 26: Chapter 2Previous WorkIn order to p
Page 27 and 28: 132.1.2 Previous component embeddin
Page 29 and 30: 15have produced a very similar flex
Page 31 and 32: 17• bonding.The material is large
Page 33 and 34: 193.1 IntroductionThere are several
Page 35 and 36: 213.2.1 Materials and manufacturing
Page 37 and 38: 233.3 Partial and cross-boundary em
Page 39 and 40: 25• Bulk removal: Uncontrolled ma
Page 41 and 42: 27for the pre-encapsulation process
Page 43 and 44: 29Suspending fixture methodAnother
Page 45: 31Selective material removal takes
Page 49: 35III-3III-4III-5Selectively deposi
Page 52 and 53: 38IV-3IV-4IV-5Bulk deposit sacrific
Page 54 and 55: 40Machine mold in support material
Page 56 and 57: 42Machine mold in support material
Page 58 and 59: 443.4.3 Alternative solutionsThe al
Page 60 and 61: 46Figure 3.16: Linkages for extendi
Page 62 and 63: 48VI-1VI-2VI-3VI-4VI-5Create moldBu
Page 64 and 65: 50SelectiveDeposit ofPart Material(
Page 66 and 67: 52Design / RedesignSelective deposi
Page 68 and 69: 54Vertical cross-boundary embedding
Page 70 and 71: 56Y: secondary bending axissoft fle
Page 72 and 73: 58joints where contamination due to
Page 74 and 75: 60for the generation of fiber confi
Page 76 and 77: Figure 4.3: The cones in the lower
Page 78 and 79: Figure 4.5: The cones in the lower
Page 80 and 81: 66Soft polyurethane flexureString a
Page 82 and 83: 68rotZ(roll), rot-X(pitch), rot-Y(y
Page 84 and 85: 70rotY1.201.001.14rotY7.006.000.800
Page 86 and 87: 72rot Y5.00rot Y74.006rot -X3.002.0
Page 88 and 89: 74a04Please see figure 4.11. A04 ha
Page 90 and 91: 76rotY5.004.003.004.49rotY76543.932
Page 92 and 93: 78the fibers evenly shared load for
Page 94 and 95: 80rotY5.00rotY74.00653.002.001.002.
Page 96 and 97:
82rot Y5.00rot Y74.0065rot -X3.002.
Page 98 and 99:
84rotY5.004.003.004.82rotY76544.212
Page 100 and 101:
86rot Y5.00rot Y74.0065rot -X0.523.
Page 102 and 103:
88contain complex deformations.a25P
Page 104 and 105:
90rot Y5.00rot Y74.0065rot -X3.002.
Page 106 and 107:
92reinforcement, a selected number
Page 108 and 109:
94inwards under fiber tension, and
Page 110 and 111:
Figure 4.27: Anchor assembly placed
Page 112 and 113:
984.5.2 Test resultsTest results ar
Page 114 and 115:
100rotY1.201.000.800.600.400.201.14
Page 116 and 117:
102both plots. The alternative inte
Page 118 and 119:
104locations.a12Please see figure 4
Page 120 and 121:
106rot Y5.00rot Y74.0065rot -X3.002
Page 122 and 123:
108rot Y5.00rot Y74.0065rot -X0.303
Page 124 and 125:
110eight times more elements did no
Page 126 and 127:
112Figure 4.35: Photograph of faile
Page 128 and 129:
114Figure 4.39: Photograph of faile
Page 130 and 131:
1164.8 Future directionsThere are t
Page 132 and 133:
joints that undergo large number of
Page 134 and 135:
120it to regain flexibility. The su
Page 136 and 137:
BibliographyABAQUS (2005). http://w
Page 138 and 139:
124paper detc99/dfm-8910. In Procee
Page 140 and 141:
126Analysis of Elastomers, pages 5-
Page 142 and 143:
128Mavroidis, C., DeLaurentis, K.,
Page 144 and 145:
130Ramsay, A. (1999). Recent develo
Page 146:
132Watanabe, Y. and Kaldjian, M. (1
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