A Computational Design Tool for Compliant Mechanisms
Vittorio Megaro (Disney Research Zurich)
Jonas Zehnder (Disney Research Zurich)
Moritz Bächer (Disney Research Zurich)
Stelian Coros (Carnegie Mellon University)
Markus Gross (Disney Research Zurich)
Bernhard Thomaszewski (Disney Research Zurich)
ACM SIGGRAPH 2017
July 30, 2017
We present a computational tool for designing compliant mechanisms. Our method takes as input a conventional, rigidly-articulated mechanism defining the topology of the compliant design. This input can be both planar or spatial, and we support a number of common joint types which, whenever possible, are automatically replaced with parameterized flexures. As the technical core of our approach, we describe a number of objectives that shape the design space in a meaningful way, including trajectory matching, collision avoidance, lateral stability, resilience to failure, and minimizing motor torque. Optimal designs in this space are obtained as solutions to an equilibrium-constrained minimization problem that we solve using a variant of sensitivity analysis. We demonstrate our method on a set of examples that range from simple four-bar linkages to full-fledged animatronics, and verify the feasibility of our designs by manufacturing physical prototypes.
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