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A Novel Fully Compliant Planar Linear-Motion Mechanism

[+] Author Affiliations
Neal B. Hubbard, Jonathan W. Wittwer, John A. Kennedy, Daniel L. Wilcox, Larry L. Howell

Brigham Young University, Provo, UT

Paper No. DETC2004-57008, pp. 1-5; 5 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


A new fully compliant linear-motion mechanism, called the XBob, is presented. The mechanism is based on the pseudo-rigid-body model (PRBM) of a system of Roberts approximate straight-line mechanisms combined in series and parallel. It can be fabricated in a single plane and has a linear force-displacement relationship. Symmetry and compliance compensate for the structural error inherent in the Roberts mechanism, resulting in precise straight-line motion. The device is designed and its motion and force-displacement relations are predicted by the PRBM. The design is validated using finite element analysis and experimental results.

Copyright © 2004 by ASME
Topics: Motion , Mechanisms



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