Compliant Transmission Mechanism with Two Decoupled Degrees of Freedom
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- Опубликовано: 4 окт 2024
- This video introduces a compliant mechanism that converts two rotational degrees of freedom (DOFs) into two translations with a specified transmission ratio. In other words, two handles can be rotated to drive an output stage such that it translates in two different directions according to a ratio that relates how much the output stage translates over how much the two input handles rotate. Moreover, the mechanism uses decoupling flexures so that each input handle can be rotated independently without appreciably affecting each other and so that the desired output motions of the stage are also independent and achieve negligible parasitic motion error. The mechanism was designed using Prof. Hopkins’ freedom and constraint topologies (FACT) synthesis approach.
To learn more about the compliant transmission mechanism of this video, you can read our journal paper published in Precision Engineering:
www.sciencedir...
The part files for the mechanism can be downloaded from Thingiverse at this link:
www.thingivers...
Acknowledgements:
Special thanks to Dr. Robert Panas and Professor Martin Culpepper for helping to collect data and fund the effort at MIT.
Also, we acknowledge the following source:
commons.wikime...
upload.wikimed...
U.S. Air Force photo/Airman 1st Class Laura Max., Public domain, via Wikimedia Commons
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Disclaimer:
Responsibility for the content of this video is my own. The University of California, Los Angeles is not involved with this channel nor does it endorse its content.
Shockingly great explanation and demonstration! I also very much love that these are provided for 3D printing.
Oh my. As a mechanical engineer, I can roughly imagine how much time, brain matter and effort you've put into this. Great work, truly amazing!!
Excellent and well summarized. When designing, did you also simulate/measure whether temperature could induce unwanted motion in the flexure?
Isn't that simply a question of "use stuff that has the same thermal expansion in all directions"?
I guess rolled steel could break that- it gets anisotropic in rolling direction.
@@nos9784 THERE IS **NO** SUCH WORD AS ANISOTROPIC!!**
@@JESUSCHRYSLER5512 uhm... are you sure? After all, I just said it? If there wasn't before, there would now.
anisotropic. There, I did it again, copied from wiktionary.
Whats your point, and what is wrong with you?
@@nos9784 nothing is wrong with me, **KAREN!!**
DERGON DERZHERLERABLE SPPLERZGERNOVLERS DERZHERLERABLESZHNOILBLWRZHERCOBSHERVER DERGON DERZHERLERABLE SPPLERZGERNOVLERS
DARZHNARZHZARZHER.
@@JESUSCHRYSLER5512 an·i·so·trop·ic
[anˌīsəˈträpik, ˌanˌīsəˈträpik]
ADJECTIVE
physics
(of an object or substance) having a physical property that has a different value when measured in different directions. A simple example is wood, which is stronger along the grain than across it.
(of a property or phenomenon) varying in magnitude according to the direction of measurement:
"electron scattering is anisotropic"
In the beginning of the video I thought ( this would be amazing for microscapy ) low and behold, 3 minutes later.
Amazing work!!
I'll be honest, a lot of what was said went over my head, especially at the part in the middle where it was putting up all the formulas and such that you used to determine it's degree of translation (i don't even know if im using that terminology right, lol)
I come from practical knowledge of car mechanics. so when i saw the title that mentioned a transmission mechanism, i thought it had to do with actual car transmissions, and was VERY curious how this would fit in with that stuff.
I'm SUPER glad i clicked on this as a result. i learned something new that still had to do with mechanics, just not with car mechanics, lol. ill have to watch this a few times to fully grasp exactly what im looking at, but its REALLY cool
At first I thought this wasn't serious, because the start just sounded like this:
"The original machine has a base-plate of prefabulated amulite, surmounted by a malleable logarithmic casing in such a way that the two spurving bearings were in a direct line with the pentametric fan"
I like your videos because the way you break it down, you really explain it in a way that anyone can understand.
Thank you for providing the STLs. for me there is no better way to learn and understand a new concept than to get my hands on it!
I love flexures in mechanical design! They are so useful and customizable people often overlook their use!
as a german, I appreciate the design of the front
It essentially has no 'moving pieces'. It's 'solid state', and yet, it has two degrees of freedom.
To avoid risking embarrassment my comment will be limited in the next few words. Very nicely done
What is the sensitivity of this mechanism to thermal expansion?
Infinity 🤣🤣🤣
When you said how little it moved, I immediately thought of working with microscopes and, lo and behold, so it was designed for.
Excellent explanation, made sense all the way through.
WOW, i loved it, the mechanism was beautiful and interesting. designing the mechanisms are wonderful, assembling different piece of puzzles, different properties and characteristics to create a piece art, or better say, piece of engineering, that can be anything we want to be is the joy of life.
I wished i could do my PhD in this field, but to be honest I have lost my self-confidence and mojo.
By any chance, can you spare few minuted of your time to read my cv, and give me your opinion for the next stage of my life ??? i have recently finished my master.
client: i want as much jank as possible.
designer: say no more
This is absolutely brilliant
I want to see this miniaturized, say a 25mm cube, and made as a one-piece part, with a modified pitch so that movement isn't microscopic, align the rotational axes with the cubes center, and give the linear portion more throw. There could be some interesting applications for this throughout all scales.
but do you have a product which people would pay for?
if so, what is it?
@@mildsauce5019 get out of here with that hypercapitalist nonsense.
@@mildsauce5019 Hot sauce
this is so cool! This makes me want to go back to school and get a mechanical engineering degree
I feel smart now. Joking aside I understood everything he said and actually found it cool.
Thank you for the STLs this one I need to try :)
Quite a interesting shape on that square
I understood. A quick question: how did you have the insight: "yeah let me make this super duper mechanism" ? Would mind telll us how such great idea was born? Thanks!
Thanks for sharing. It’s was very informative, and easy to understand.
I love the felxures on the front
perfect, the precision swastika, just what the world had been waiting for
Wow, this would be great for aiming lasers.
seeing the angles of the blades on a flexure bearing intersect w/ the body's rotational axis - can that be used as a generic marker for identifying movement/function in these complicated flexures? if flat multiple flexures converge, follow the lines, then twist body along perpendicular axis at the meeting point?
I followed the link to the thingiverse files but the files from this video don't seem to be there
Another great use.
Amazing! Thank you a lot for sharing
Fantastic work!
Awesome awesome awesome mechanism.
now if you fix a laser on it and add a lens, use the mechanism to move a lens relative to the laser, or constrain the front of the laser with the moving plate and the back with the ground, you might be able to get extremely precise cuts.
the other option would be to simply have the piece you wanna cut on the plate.
what a compliant mechanism.
i have seen solid hardwood tables more compliant then this thing.
two discs on their axles, one running side ways on the other, 90 degree angle, its a cvt transmission with the other disc being the clutch
"Now is the story of a family who lost everything.." ❤️
This is awesome
I don't understand any of the math... But it's still awesome
Super cool! Thanks for sharing.
I tried to follow your link to Thingiverse but unfortunately this do not work. I can only see two designs at the landing page, and none of those two is the one from this video. If you ever consider sharing the geometry, please post a link, as I would love to print a version of this for my usb-microscope :)
7:34 - why the big outlier? 🤔 My brain does not like it 🤓😄
Yes, I saw that too. It's off by about 20% of the entire range! There must be some interesting story about that. And why were the measurements taken at such irregular intervals? Not linear, but not log either. And the outlier point was conspicuously close on the X axis to another point that had a Y value that was spot on. Very odd. Maybe the mechanism had some sticking point or buckling point.
строение таких штук максимально контринтуитивно, но благодаря им можно делать приборы высокой точности
I love this
It resembles apparently some tibetan sign of sun... 😁 Great work!!!
This reminds me of G-Force sensors in smartphones and other electronics
Thanks so much for the amazing content, I think a video on the techniques and tips and tricks on how to actually manufacture and assemble flexure mechanisms would come in handy, do you use CMM machines to verify the assembly? Are dowel pins enough for part alignment?
Our future is physically solid state, that's so very cool.
I'd love to see the various 3D printer channels give those files a crack, and also design a way to have those inputs not move when not touched (id est not flex back once you have made an adjustment and just want to look down the microscope and maybe write some notes)
These are so cool. Are you cutting them via waterjet or wire EDM?
Is there any material that is 100% immune to work hardening and fatigue?
But where does the Retro Encabulator fit? Does it have hydrocoptic marzelveins fitted to ambaphasiant lunar wainshafts to prevent side fumbling?
When in use as a microscope stage, how is the target flexion maintained?
Brillant
Nice mechanism but why does it need to look like a censoried 1944 sign?
Ps:i'm sorry if you didn't noticed it.
Interesting, but that can easily be done with a handful of racks and pinions or worm screws. Well ; maybe at a large scale, but likely not at a microscopic scale.
maybe by using a screw, you could move those handles (replaced with gears) and then a set of bevel gears to turn 90 degrees to get easy to use handles that keep their positions
If you introduce gears, you could just as well skip the rest of the mechanism and translate the centre stage directly by toothed bars.
amazing
This is an amazing mechanism! Was this designed to repair or create microchip circuitry? One could also create nano art and sign it with a nano-sized signature for display in a nano gallery for mega-bucks!
Its intended to be a finely adjustable microscope stage
cool but why does piezo ceramic not work?
Did the 3D print.
Thanks,
Interesting shape you got there would be terrible if it looked like something BAD
Does the stage twist, though?
Wow, this is genius! Dis some one try to 3D-Print it?
Very cool device but I have to ask what advantage does this have over a two axis stage moved by manual screw drives geared down to provide fine motion?
This has much less backlash.
none, this is a precision movement controller that not only needs force to be constantly applied to remain at a given position and will rapidly lose precision as the spring temper wears unevenly between the two with every movement. The only real use case for very complicated compliant mechanisms is for products too microscopic to physically produce that outcome in any other way.
Could this be used to set up the intonation on a guitar?
Can you add the 3rd dimension of movement?
Yes, you could add any DOF with any transmission you'd like using the FACT theory to design it.
I can't imagine the math required to do this. Imagine someone trying to design this 30-40 years ago. Headboom.
it would be sweet if somebody 3d printed this.
What happens if we invert the input direction, would small micron sized motions be blown up by the same ratio to generate course motion in the handles? Can some analogous compliant mechanism be designed for efficient energy conversion from finer resolution scales to larger ones
Sure, that works. But keep in mind that this is not 'energy conversion' or 'power conversion'. The power that goes into a passive transmission is equal to the power that comes out (minus losses). That means that although you have as an input tiny motions, you will need very large forces to achieve large motions with small forces on the output.
@@tHaH4x0r right! meant more like motion patterning. Imagining some encoded information getting translated upwards in scale with a use of some "amp", a weird form of compliant data storage.. kinda like a vinyl record player or RNA polymerase going through DNA
@@321750101 try atomic force microscopes
@@DogeMultiverse hahahah pretty much
Love 🥰
I’ve seen a lot of large turn into small movement. Are there any examples of the reverse?
Its aluminum, so how are you going to have the strength to bend it like that?
@@SoulAir referring to the RUclips channel / complaint mechanisms in general, not to this specifically.
@@demetriusmichael Gotcha
this is all well and good. i noticed a slight minor flaw in the design. your output looks like a swastika...
Fancy Etch A Sketch :-D
I understand this well... but boi dose it hurt my head.
2:39
“Show me your transmission capabilities”
👍👍👍👍💯
I watched this video and now i know im a dummy head
This is so hard
Does the mechanism include a swastika on purpose?
my brain cant handle this mechanism i am sorry
wow a sideways etch-a-sketch
¿What?
like the sun symbol
Yeah well, that’s all well and good accept it looks like a swastika. Better start over.
BLACK hair
Yes. Hair color is strongly correlated with hair thickness.
but you cant put this transmission in a car...
Is that supposed to be impressive...?
Seems utterly useless and prone to hyper metal fatigue. Pointless
How it seems to you may be telling us more about you than the mechanism!
Throw that in the waste bin and buy a Tesla