الملخص
Compliant mechanisms provide compact and intrinsic structural compliance for regulating physical interactions between mechanisms and environments. However, different tasks demand distinct stiffness characteristics, often requiring task-specific optimization and redesign due to limited geometric design space and inherent coupling among multiple stiffness components. This paper presents a Lego-like stiffness configuration approach using stackable planar compliant modules. Three complementary module geometries are introduced, with their stiffness characteristics further regulated through beam width, plate thickness, and module orientation. A unified stiffness model is established for quantitative analysis of individual and composed modules. Further, a two-stage optimization method is presented to achieve desired stiffness profiles, combining a genetic algorithm for configuration and sequential quadratic programming for parameter refinement. Experimental verification shows deviations below 6.5% for simulated stiffness. A flexible wrist is further developed as a representative implementation, exhibiting distinct compliant and dynamic responses under different stiffness characteristics. An optimized modular composition realizes prescribed stiffness values and maintains compliant obstacle interaction during high-speed motion at 1 m/s, with a maximum tested angular compliance of approximately $15^\circ$. The proposed framework provides a systematic approach for constructing flexible interfaces with task-specific stiffness characteristics.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Yao, S., Xie, X., Zhao, S., Li, Y., Li, H., Cutkosky, M. R., & Chen, G. (2026). Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces. https://omanscience.com/ar/articles/lego-like-stiffness-configuration-of-planar-compliant-modules-for-task-specific-flexible-interfaces
MLA 9
Yao, Siyue, et al. "Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces." https://omanscience.com/ar/articles/lego-like-stiffness-configuration-of-planar-compliant-modules-for-task-specific-flexible-interfaces.
شيكاغو (المؤلف–التاريخ)
Yao, Siyue, Xiaochi Xie, Shixuan Zhao, Yutong Li, Hao Li, Mark R. Cutkosky, and Genliang Chen. 2026. "Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces." https://omanscience.com/ar/articles/lego-like-stiffness-configuration-of-planar-compliant-modules-for-task-specific-flexible-interfaces.
هارفارد
Yao, S., Xie, X., Zhao, S., Li, Y., Li, H., Cutkosky, M. R. and Chen, G. (2026) 'Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces', Available at: https://omanscience.com/ar/articles/lego-like-stiffness-configuration-of-planar-compliant-modules-for-task-specific-flexible-interfaces.
فانكوفر
Yao S, Xie X, Zhao S, Li Y, Li H, Cutkosky MR, et al. Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces. https://omanscience.com/ar/articles/lego-like-stiffness-configuration-of-planar-compliant-modules-for-task-specific-flexible-interfaces
IEEE
S. Yao, X. Xie, S. Zhao, Y. Li, H. Li, M. R. Cutkosky, and G. Chen, "Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces," https://omanscience.com/ar/articles/lego-like-stiffness-configuration-of-planar-compliant-modules-for-task-specific-flexible-interfaces.