The design of a 2-DOF compliant mechanism for describing closed spatial surfaces, with intended application as leg in omnidirectional walking machines

Master thesis (2019)

Authors

C.J. van der Geer Mechanical Engineering

Contributors

F.G.J. Broeren Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering (mentor)

J.L. Herder Precision and Microsystems Engineering (graduation committee member)

J.F.L. Goosen Computational Design and Mechanics - Mechanical, Maritime and Materials Engineering (graduation committee member)

Faculty

Mechanical Engineering, Mechanical Engineering

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Published Date

07-06-2019

Language

English

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Faculty

Mechanical Engineering

Abstract

This report presents the design of a 2-DOF compliant mechanism, capable of describing a closed spatial surface. The mechanism is designed with the intended application as leg in an omnidirectional walking machine. Therefore, a conceptual design of a way of coupling a multitude of these mechanisms is also presented. By means of a kinematic analysis it will be shown that the design is able to describe this surface, making it suitable for its intended purpose. Measurements of a physical prototype qualitatively confirm the functioning of the device without external loads, after production by means of additive manufacturing. Furthermore, an analysis of the deviations with respect to the created purely kinematic model is performed, indicating the most prominent improvement directions. This creates a first step towards a compliant walking machine, capable of translating in any direction over its supporting surface.