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Definition of Flexures
Monolithic Designs
Clamped Designs
Motion Errors
Two-stage
Differential
Multi-blade
Chapter 8
ME 551
Flexures
A flexure is a bearing system that
allows
ll
motion
ti
th
through
h bending
b di
off
its hinge elements.
Also called flexural hinges and elastic /
compliant mechanisms
Chapter 8
Light weight
Low cost
Very low friction (w/o lubrication)
Maintenance free operation
Yield high
g repeatable
p
motion
ME 551
Flexures (Contd)
(
)
Some of their disadvantages
g are
Limited travel span if compared to the overall size of the
mechanism
Very
V
llow d
damping
i
Poor load capacity
Might be difficult to manufacture
Susceptable to fatigue failure
Their applications
pp
range
g from
Flip-top containers
Piezo-beams on a scan tunneling microscope (STM)
ME 551
Monolithic Design
g 1
Chapter 8
ME 551
Clamped
p Designs
g 1
ME 551
Features of Clamped
p Designs
g
Speed and acceleration limits:
Limited only by yield strength and design.
Range of motion:
T
Typically
i ll used
d ffor motions
ti
lless th
than a ffew mms.
Monolithic designs: flexure length/motion 20
Clamped designs: flexure length/motion = 5 ... 10
Applied loads:
Design
g g
goal is to obtain load capacity
p
y with minimum spring
p g
constant.
Repeatability:
Axial: limited only by the drive system
Lateral: < 1 nm for monolithic designs.
Chapter 8
ME 551
Features (Contd)
(
)
Axial Resolution:
Limited only by the drive system
system.
Inherently preloaded.
Stiffness:
The greater the motion and the lower the spring rate, the less the stiffness.
Theory of elasticity or FEA yields very accurate predictions of
performance.
performance
Flexures often have low transverse stiffness so they are more susceptible
to parasitic forces.
ME 551
Features - Accuracy
y
Fl
Flexural
l bearings
b i
cannott attain
tt i perfect
f t motion
ti due
d tto
Variation in spring strength
Chapter 8
Four-bar Linkage
g Flexure1
Chapter 8
ME 551
10
Motion Errors
ME 551
11
6(l 2a )t 2 x
= 2
2
2
3
b
l
2
t
l
+
6
at
l
x2
2l
where x is the travel distance; t is the thickness of the spring plates;
b is the length of the platform.
Notice that there is no pitch error when a = l / 2. If the force is
applied at a point other than halfway between the platforms, a
bending moment is generated which causes a pitch error to occur.
Chapter 8
ME 551
12
s =
p =
s x2
2l 2b
px
bl
Chapter 8
ME 551
13
ME 551
14
Two-Stage
g Linkage
g 1
ME 551
15
Cascaded Linkage
g 2
Chapter 8
ME 551
16
Differential Design
g 2
Chapter 8
ME 551
17
Multi-blade Flexures1
Many thin blades can be used
to increase lateral stiffness and
load capacity while keeping
axial stiffness and stress low:
Fvertical ntw
K vertical
ntwE
L
L3
Ent 3 w
L3
K axial (monolithic)
E (nt )3 w
K axial (multiblade
l ibl d )
Chapter 8
ME 551
18
Deformed
upper beam
Chapter 8
L ma
in
L/
=2
FL
= 2E I
FL3
3EI
ME 551
19
Cross-strip
p Flexure1
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20
Angle
g Hinges
g 2
Chapter 8
ME 551
21
Locking
g Flexures1
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22
Locking
g Flexures ((Contd))
Small taper keeps component preloaded
in both the X and Y directions.
To minimize distortion caused by bending,
pass through
g the support
pp
line of force must p
ledge.
A lens could be kinematically held by two
anvils and a single locking member.
The geometry is tolerant of manufacturing
errors.
Chapter 8
ME 551
23
Locking
g Flexures ((Contd))
ME 551
24
1
Transmission Systems
y
Chapter 8
ME 551
25
Transmission Systems
y
(Contd)
(
)
ME 551
26
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27
Application
pp
Diaphragm
p g Flexure3
ME 551
28
Rolamite
Rolamite (a major twist in flexural
bearings) is a technology for very low
friction bearings:
Developed
p byy Donald F. Wilkes of S
Sandia
National Lab in 1960s.
Uses a tensioned metal band and counter
rotating rollers within an enclosure.
enclosure
Resulting linear bearing loses very little
energy to friction.
Effective friction coefficient is as low as 0.0005
(an order of magnitude better than ball bearings
at the time)
ME 551
29
References
1 A
1.
A. H.
H Slocum,
Slocum Precision Machine Design,
Design SME Press,
Press
1992.
A. H. Slocum, ME 2.075 Course Notes, MIT, 2001.
2. S. T. Smith & D. G. Chetwynd, Foundations of Ultra
g Vol 2, Taylor
y
& Francis,
Precision Mechanism Design,
2005.
Chapter 8
ME 551
30