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Collinear-Type Statically Balanced Compliant Micro Mechanism (SB-CMM): Experimental Comparison Between Pre-Curved and Straight Beams

[+] Author Affiliations
Nima Tolou, Pablo Estevez, Just L. Herder

Delft University of Technology, Delft, The Netherlands

Paper No. DETC2011-47678, pp. 113-117; 5 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


The feasibility of collinear-type statically balanced compliant micro mechanism (SB-CMM) with pre-curved beams has been studied experimentally and compares to those with initially straight beams. The collinear-type SB-CMM is a near zero stiffness micro mechanism with a near zero actuation force in a finite range of motion. However, from the experimental data, it was found that the collinear-type SB-CMM are sensitive to fabrication errors, as a results negative or positive constant force instead of zero actuation force maybe obtained. For the case of pre-curved beams, the curvature can be tuned for better zero stiffness behavior. Further improvements in the concept are considered towards a robust design and reliable prototypes, such as optimization and accurate dimensioning and fabrication.

Copyright © 2011 by ASME



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