design and fabrication of multimaterial flexible mechanisms with ...

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48VI-1VI-2VI-3VI-4VI-5Create moldBulk deposit part material ACreate mold and fixturePlace flexible componentBulk deposit part material BFinishFigure 3.17: Pseudo-boundary formation. The insert is placed only after the firstmaterial is cast.
49Pseudo-boundary formation Pre-encapsulationAdvantageso Requires no selective additiveor removal processes-Is easy to perform-No risk of insert damageo Relatively low number of stepso Reduces stress concentrationon inserto Controlled geometryo Eases fixturing by:-increasing stiffness-providing predefined geometry.o Lowers risk of insert damageo Reduces stress concentrationon insertDisadvantageso No direct anchoring, hencepossibly weaker anchoringstrength of insert.o Weaker anchoring strength of inserto Relatively large number of stepso Requires selective removal ordeposition processTable 3.2: Advantages and disadvantages of alternative methods compared to directcross-boundary embedding.the flexible component cannot be fixtured. However, pre-encapsulation might be lesslabor-intensive when the pre-encapsulation can be carried out with relative ease. Forexample, if it is possible to prepare a long strip of the flexible component which canbe cut into segments and used in multiple products, then this might be more efficientin terms of fabrication compared to pseudo-boundary formation which requires theflexible component to be fixtured for each and every one of the products.An exceptional case is when the second casting of part material can be eliminatedbecause the pre-encapsulating material from step V-3 in Figure 3.15 serves as thesecond part material. Then this process becomes virtually equivalent to pseudoboundaryformation, also in advantages and disadvantages with the added benefit ofovercoming fixturing difficulties, except that the material casting order is reversed.
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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
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 and 46: 31Selective material removal takes
Page 48 and 49: 3412I-3I-4Create mold and fixturePl
Page 51 and 52: 37Figure 3.9: Finished mechanism wi
Page 53 and 54: 39that is anchored in solid polymer
Page 55 and 56: 41Figure 3.12: Photograph of the fi
Page 57 and 58: 43SU-8 (photocurable polymer)Embedd
Page 59 and 60: 45V-1V-2V-3V-4Create a tight mold f
Page 61: 47and risk elimination of flexible
Page 65 and 66: 51STARTDesign / RedesignDirect boun
Page 67 and 68: 53obstructed by it, and avoiding st
Page 69 and 70: Chapter 4Stiffness modification of
Page 71 and 72: 57Let us assume the flexure to have
Page 73 and 74: 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
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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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