WO2001069096A2 - Stable bi-axial pivot flexure coupling - Google Patents

Stable bi-axial pivot flexure coupling Download PDF

Info

Publication number
WO2001069096A2
WO2001069096A2 PCT/US2001/008087 US0108087W WO0169096A2 WO 2001069096 A2 WO2001069096 A2 WO 2001069096A2 US 0108087 W US0108087 W US 0108087W WO 0169096 A2 WO0169096 A2 WO 0169096A2
Authority
WO
WIPO (PCT)
Prior art keywords
flexures
axis
blade
flexure
attached
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2001/008087
Other languages
French (fr)
Other versions
WO2001069096A3 (en
Inventor
Toren S. Davis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honeywell International Inc
Original Assignee
Honeywell International Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honeywell International Inc filed Critical Honeywell International Inc
Priority to AU2001245697A priority Critical patent/AU2001245697A1/en
Priority to DE60111193T priority patent/DE60111193T2/en
Priority to JP2001567946A priority patent/JP3881552B2/en
Priority to AT01918644T priority patent/ATE296971T1/en
Priority to EP01918644A priority patent/EP1264111B1/en
Publication of WO2001069096A2 publication Critical patent/WO2001069096A2/en
Publication of WO2001069096A3 publication Critical patent/WO2001069096A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/12—Pivotal connections incorporating flexible connections, e.g. leaf springs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32606—Pivoted
    • Y10T403/32861—T-pivot, e.g., wrist pin, etc.

Definitions

  • This invention relates to devices for providing low friction, rotational couplings, in particulaj, a stable bi-axial pivot flexure coupling to provide rotationally compliant ends for kinematic linkages
  • a simple spherical ball and socket connection provides a coupling that is rotationally compliant and axially stiff .
  • a coupling of this type is used as an end fitting for linkages or rods or struts where axial forces must be rigidly transferred, and rotations are relatively unconstrained.
  • the ball and socket end connection is however characterized by large friction losses, making it undesirable for low power, precision coupling .and in particular closed loop feedback controls, which can become unstable when too much stick-slip motion is present. Pivot flexures, like the coupling 4 shown in Fig. 4, are generally more useful in those applications.
  • This device operates in a completely linear fashion by means of elastically deflecting flexure blades 4a that produce the desired linkage 4c end rotation with a fixed end or other linkage 4d.
  • Rotational compliance about the two axes orthogonal to the link axis (direction 4b in figure 4) is desired thus the term biaxial is often used to describe these flexures.
  • Some rotational compliance about the link axis is also achieved with this type of flexure although it is not critical in most applications Even though blade type pivot flexures have been used successfully, they possess certain performance limitations, in particular weak axial load carrying capacities.
  • the interleaved blades 4a must be slender which makes them susceptible to buckling under compressive or axial loads, in the direction 4b.
  • the blades 4a conceivably can be made thicker, which makes them less flexible and increases rotational stiffness reducing the coupling's effectiveness.
  • the goal is minimal rotational stiffness, which requires the thinnest possible blades but maximum axial strength.
  • An object of the present invention is to provide a biaxial rotational coupling with minimal rotational friction and losses of the blade type and also capable of bearing higher axial compressive loads.
  • a stable pivot flexure coupling uses thin flexures (blades) to connect the rotating end members and the pivot joint is located near the midpoint of each flexure.
  • a flexure coupling comprises a first end member normal to a load axis (i.e., 4b in figure 4); a second end member normal to said load axis at a first distance from the second end member; an aperture in said first end member on said axis; an aperture in said second end member on said axis; first and second flexures connecting sadd end members, s.aid first and second flexures being parallel to said load axis and diametrically opposed; third and fourth flexures connecting said end members, said third and fourth flexures being parallel to said load axis and diametrically opposed; a first cross member normal to said load axis and connected near the midpoints of the first and second flexures ; a first rod along said axis and extending through the aperture in said first end member and attached to said first cross member; a second cross member normal to said axis and connected near the midpoints of the third and fourth flexures; a second rod along said .axis and extending through
  • four axial connecting rigid spacers diametrically arranged, secure the first and second end members with the flexures located between the end members and the spacers to form a cage for the flexures.
  • each flexure is formed with base at each end which is secured to the end members with the rigid spacers.
  • a benefit of the invention is that each blade flexure reacts axial loads in both compression and tension. As a result, flexure failure, i.e., failure of a blade, can only occur when the elastic limit of the flexure material is reached. With the benefit of the previous discussion of the invention, one of ordinary skill in the art may be able to modify the invention in whole or in part without departing from the true scope and spirit of th ⁇ invention.
  • FIG. 1 is an elevation of a stable flexure blade assembly embodying the present invention.
  • Fig. 2 is a section along line 2-2.
  • Fig 3. is a schematic of a coupling having axially opposed connecting rods, each connected to a pair of flexure blades according to the present invention.
  • Fig. 4 shows a flexure coupling used in the prior art.
  • Fig. 5 is a section along line 5-5 in Fig. 3.
  • Fig. 6 is an section along 6-6 in Fig. 8
  • Fig. 7 is a section 7-7 along in Fig. 8
  • Fig. 8 is a side view of the present invention
  • Fig. 9 is a section along 9-9 in Fig. 8
  • a flexure blade assembly 9 includes a control rod 10 which is moveable around an axis 12 parallel to cross-member 30 to be able to flex or move (rotate slightly) with respect to fixed circular members 14 and 16. (See angle ⁇ in Figure 2) End members 14 and 16 are connected by thin, leaf like or blade type flexures 18, 20, made of a resilient metal, plastic or composite. It should be noted from schematic Fig. 3 that there are four blade flexures, first and second flexures 18. 20. as mentioned and third and fourth flexures 22, 24, a . ll attached at their ends to the end members 14 and 16. Blade flexures 18, 20 are attached to control rod 10 through cross-member 30 and along a plane, as shown in Fig. 1.
  • the second pair of blade flexures 22, 24 He a long a plane normal to the plane of blade flexures 18, 20 and are attached to a second control rod 26 through cross-member 32. (See also Figs. 6 through 9.)
  • control rod 10 is orthogonal to similar rotations of control rod 26 by the mechanical connection between the blade flexures and the end members, providing biaxial rotational compliance between the two control rods.
  • Control rod 10 is attached to a transverse bar or cross member 30 one end of which 30a is attached, e.g., welded, as close as possible to the middle of blade flexure 18, and likewise the other end 30b is attached to the middle of blade flexure 20.
  • Control rod 26 is attached to transverse bar 32 which is similarly attached with its ends 32a, 32b as close as possible to the middle of its respective blade flexures 22, 24, while providing some clearance with transverse bar 30.
  • the points 30c and 32c where the rods 10 and 26 attach to their respective bars 30 and 32 are the intermediate blade flexure points.
  • the coupling in Figs. 1, 2 and 3 reacts axial loads both in compression and tension through the blade flexure points, such as 32c.
  • the load path continues through the transverse bars and then through each blade flexure.
  • the load path then splits with a portion of the load causing tension in one part of the blade flexure and another portion of the load causing compression in the other part of the blade flexure .
  • the magnitude of the load reacted by each blade flexure segment is dependent on a few factors, since the axial load path becomes statically indeterminate. First, the location of the pivot point along the length of the blade determines relative stiffness by the blade and its reaction to axial loads.
  • each blade flexure portion Another factor in determining load magnitude in each blade flexure portion is the compression portion of the blade flexure and its buckling stability. If the compression side is not stable to the load the flexure will buckle. The tension side must therefore react all the load. In other words, the reaction through the flexures and rods 10 and 26 puts the blade flexures in tension, minimizing the risk of buckling.
  • the length of each blade flexure 18, 20, 22, 24 is .75 inches, and the flexure is made of titanium 6A1-4N.
  • the connection point 34 is .3 inches and the blade flexure is .013 X .3 inches in cross-section.
  • the buckling load for each blade flexure is 90 lbs. This is without adding the additional stresses encountered when the blade is flexed or slightly rotated as shown in Fig. 2. If a blade of the same dimensions and material make-up is configured as the present invention (intermediate blade flexure points), the allowable load for the flexure is increased to 200 pounds. This stable flexure continues to be structurally sound when reacting this load and experiencing 5 degrees ( ⁇ ) of rotation.
  • Figs. 6-9 show an embodiment of the basic flexure structure explained above, in assembly that is easy to fabricate.
  • This embodiment uses four posts or separators 35, 36, 37 and 38, arranged diametrically and secured to rigid end members 40 by fasteners 39, forming a cage for the flexures 18, 20, 22, 24.
  • the flexures are g . iven the previous numbers but are formed with integral bases, e.g., 22a, that are sandwiched between the rigid spacers 35, 36, 37, 38 and the end members 40.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Wind Motors (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Joints Allowing Movement (AREA)
  • Mutual Connection Of Rods And Tubes (AREA)
  • Chairs Characterized By Structure (AREA)
  • Cyclones (AREA)
  • Fishing Rods (AREA)
  • Pens And Brushes (AREA)
  • Non-Reversible Transmitting Devices (AREA)

Abstract

A coupling comprises blade flexures (18, 20) that connect two end members (14, 16) through which control rods (10) extend to cross members (30) that are attached near the mid-points of the blade flexures (18, 20), providing stable-linear load reaction means for use as end pivots for linkages where stickslip motion is undesirable. The blade flexures (18, 20) are housed in a rigid cage comprising four separators (35-38) that are attached to end members (14, 16), and the flexures (18, 20) are attached to the end members (14, 16) by the separators.

Description

STABLE BI-AXIAL PIVOT FLEXURE COUPLING
Technical Field
This invention relates to devices for providing low friction, rotational couplings, in particulaj, a stable bi-axial pivot flexure coupling to provide rotationally compliant ends for kinematic linkages
Background
A simple spherical ball and socket connection provides a coupling that is rotationally compliant and axially stiff . A coupling of this type is used as an end fitting for linkages or rods or struts where axial forces must be rigidly transferred, and rotations are relatively unconstrained. The ball and socket end connection is however characterized by large friction losses, making it undesirable for low power, precision coupling .and in particular closed loop feedback controls, which can become unstable when too much stick-slip motion is present. Pivot flexures, like the coupling 4 shown in Fig. 4, are generally more useful in those applications. This device operates in a completely linear fashion by means of elastically deflecting flexure blades 4a that produce the desired linkage 4c end rotation with a fixed end or other linkage 4d. Rotational compliance about the two axes orthogonal to the link axis (direction 4b in figure 4) is desired thus the term biaxial is often used to describe these flexures. Some rotational compliance about the link axis is also achieved with this type of flexure although it is not critical in most applications Even though blade type pivot flexures have been used successfully, they possess certain performance limitations, in particular weak axial load carrying capacities. To achieve low rotational stiffness, the interleaved blades 4a must be slender which makes them susceptible to buckling under compressive or axial loads, in the direction 4b. To increase theix load bearing capacity, the blades 4a conceivably can be made thicker, which makes them less flexible and increases rotational stiffness reducing the coupling's effectiveness. The goal is minimal rotational stiffness, which requires the thinnest possible blades but maximum axial strength.
Summary of the Invention An object of the present invention is to provide a biaxial rotational coupling with minimal rotational friction and losses of the blade type and also capable of bearing higher axial compressive loads.
According to the present invention, a stable pivot flexure coupling uses thin flexures (blades) to connect the rotating end members and the pivot joint is located near the midpoint of each flexure.
According to the invention, a flexure coupling comprises a first end member normal to a load axis (i.e., 4b in figure 4); a second end member normal to said load axis at a first distance from the second end member; an aperture in said first end member on said axis; an aperture in said second end member on said axis; first and second flexures connecting sadd end members, s.aid first and second flexures being parallel to said load axis and diametrically opposed; third and fourth flexures connecting said end members, said third and fourth flexures being parallel to said load axis and diametrically opposed; a first cross member normal to said load axis and connected near the midpoints of the first and second flexures ; a first rod along said axis and extending through the aperture in said first end member and attached to said first cross member; a second cross member normal to said axis and connected near the midpoints of the third and fourth flexures; a second rod along said .axis and extending through the aperture in said second end member and attached to said second cross member, both said first and second rods are used to attach the coupling to a linkage and/or desired fixed mounting point where the device may operate to transfer axial loads rigidly between said hardware while allowing relative unconstrained or compliant rotations
According to one aspect of the invention four axial connecting rigid spacers, diametrically arranged, secure the first and second end members with the flexures located between the end members and the spacers to form a cage for the flexures.
According to one aspect of the invention, each flexure is formed with base at each end which is secured to the end members with the rigid spacers.
A benefit of the invention is that each blade flexure reacts axial loads in both compression and tension. As a result, flexure failure, i.e., failure of a blade, can only occur when the elastic limit of the flexure material is reached. With the benefit of the previous discussion of the invention, one of ordinary skill in the art may be able to modify the invention in whole or in part without departing from the true scope and spirit of thέ invention.
Brief Description of the Drawing Fig. 1 is an elevation of a stable flexure blade assembly embodying the present invention.
Fig. 2 is a section along line 2-2. Fig 3. is a schematic of a coupling having axially opposed connecting rods, each connected to a pair of flexure blades according to the present invention.
Fig. 4 shows a flexure coupling used in the prior art.
Fig. 5 is a section along line 5-5 in Fig. 3.
Fig. 6 is an section along 6-6 in Fig. 8
Fig. 7 is a section 7-7 along in Fig. 8
Fig. 8 is a side view of the present invention
Fig. 9 is a section along 9-9 in Fig. 8
Description
In Fig. 1, a flexure blade assembly 9 includes a control rod 10 which is moveable around an axis 12 parallel to cross-member 30 to be able to flex or move (rotate slightly) with respect to fixed circular members 14 and 16. (See angle θ in Figure 2) End members 14 and 16 are connected by thin, leaf like or blade type flexures 18, 20, made of a resilient metal, plastic or composite. It should be noted from schematic Fig. 3 that there are four blade flexures, first and second flexures 18. 20. as mentioned and third and fourth flexures 22, 24, a . ll attached at their ends to the end members 14 and 16. Blade flexures 18, 20 are attached to control rod 10 through cross-member 30 and along a plane, as shown in Fig. 1. The second pair of blade flexures 22, 24 He a long a plane normal to the plane of blade flexures 18, 20 and are attached to a second control rod 26 through cross-member 32. (See also Figs. 6 through 9.) Thus, the movement or slight rotation of control rod 10 is orthogonal to similar rotations of control rod 26 by the mechanical connection between the blade flexures and the end members, providing biaxial rotational compliance between the two control rods.
Control rod 10 is attached to a transverse bar or cross member 30 one end of which 30a is attached, e.g., welded, as close as possible to the middle of blade flexure 18, and likewise the other end 30b is attached to the middle of blade flexure 20. Control rod 26 is attached to transverse bar 32 which is similarly attached with its ends 32a, 32b as close as possible to the middle of its respective blade flexures 22, 24, while providing some clearance with transverse bar 30. The points 30c and 32c where the rods 10 and 26 attach to their respective bars 30 and 32 are the intermediate blade flexure points.
It will be appreciated that the coupling in Figs. 1, 2 and 3 reacts axial loads both in compression and tension through the blade flexure points, such as 32c. The load path continues through the transverse bars and then through each blade flexure. The load path then splits with a portion of the load causing tension in one part of the blade flexure and another portion of the load causing compression in the other part of the blade flexure . The magnitude of the load reacted by each blade flexure segment is dependent on a few factors, since the axial load path becomes statically indeterminate. First, the location of the pivot point along the length of the blade determines relative stiffness by the blade and its reaction to axial loads. Another factor in determining load magnitude in each blade flexure portion is the compression portion of the blade flexure and its buckling stability. If the compression side is not stable to the load the flexure will buckle. The tension side must therefore react all the load. In other words, the reaction through the flexures and rods 10 and 26 puts the blade flexures in tension, minimizing the risk of buckling. In one configuration, the length of each blade flexure 18, 20, 22, 24 is .75 inches, and the flexure is made of titanium 6A1-4N. The connection point 34 is .3 inches and the blade flexure is .013 X .3 inches in cross-section. (See Fig 2.) If a blade with those characteristics is configured conventionally, as illustrated in figure 4, the buckling load for each blade flexure is 90 lbs. This is without adding the additional stresses encountered when the blade is flexed or slightly rotated as shown in Fig. 2. If a blade of the same dimensions and material make-up is configured as the present invention (intermediate blade flexure points), the allowable load for the flexure is increased to 200 pounds. This stable flexure continues to be structurally sound when reacting this load and experiencing 5 degrees (θ) of rotation.
Figs. 6-9 show an embodiment of the basic flexure structure explained above, in assembly that is easy to fabricate. This embodiment uses four posts or separators 35, 36, 37 and 38, arranged diametrically and secured to rigid end members 40 by fasteners 39, forming a cage for the flexures 18, 20, 22, 24. In this embodiment, the flexures are g . iven the previous numbers but are formed with integral bases, e.g., 22a, that are sandwiched between the rigid spacers 35, 36, 37, 38 and the end members 40. It can be seen that the mechanical combination of the end members and separators produces a rigid cage for the flexures while the connection between the two rods and is solely through the flexures 18, 20,22, and 24 as explained previously, providing the same benefits. In addition to any modifications and variations described previously, one skilled in the art may be able to make modifications to invention and its components and functions, in whole or in part, without departing from its true scope and spirit.

Claims

ClaimsI Claim:
1. A coupling, comprising: a first member normal to a load axis; a second member normal to said load axis at a first distance from the second member; an aperture in said first member on said axis; an aperture in said second member on said axis; a first pair of flexures comprising first and second flexures connecting said member, said first and second flexures being parallel to said axis and diametrically opposed; a second pair of flexures comprising third and fourth flexures connecting said members, said third and fourth flexures being parallel to said axis and diametrically opposed; a first cross member normal to said axis and connected near the midpoints of the first and second flexures ; a first rod along said axis and extending through the aperture in said first member and attached to said first cross member; a second cross member normal to said axis and connected near the midpoints of the third and fourth flexures; and a second rod along said axis and extending through the aperture in said second member and attached to said second cross member.
2. A coupling according to claim 1, further comprising: a plurality of rigid separators that extend in parallel with the axis of said rods and are rigidly connect to said first and second end members.
3. A coupling according to claim 2, wherein: each said flexure includes an integral base sandwiched between said first and second end members and said separators.
PCT/US2001/008087 2000-03-14 2001-03-14 Stable bi-axial pivot flexure coupling Ceased WO2001069096A2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AU2001245697A AU2001245697A1 (en) 2000-03-14 2001-03-14 Stable bi-axial pivot flexure coupling
DE60111193T DE60111193T2 (en) 2000-03-14 2001-03-14 STABLE BI-AXIAL BENDED JOINT COUPLING
JP2001567946A JP3881552B2 (en) 2000-03-14 2001-03-14 Stable biaxial pivot flexure joint
AT01918644T ATE296971T1 (en) 2000-03-14 2001-03-14 STABLE BI-AXIAL FLEXIBLE JOINT COUPLING
EP01918644A EP1264111B1 (en) 2000-03-14 2001-03-14 Stable bi-axial pivot flexure coupling

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/525,202 US6318923B1 (en) 2000-03-14 2000-03-14 Stable bi-axial pivot flexure coupling
US09/525,202 2000-03-14

Publications (2)

Publication Number Publication Date
WO2001069096A2 true WO2001069096A2 (en) 2001-09-20
WO2001069096A3 WO2001069096A3 (en) 2001-12-27

Family

ID=24092340

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2001/008087 Ceased WO2001069096A2 (en) 2000-03-14 2001-03-14 Stable bi-axial pivot flexure coupling

Country Status (7)

Country Link
US (1) US6318923B1 (en)
EP (1) EP1264111B1 (en)
JP (1) JP3881552B2 (en)
AT (1) ATE296971T1 (en)
AU (1) AU2001245697A1 (en)
DE (1) DE60111193T2 (en)
WO (1) WO2001069096A2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090020303A1 (en) * 2004-01-29 2009-01-22 Elwyn Gooding Adaptive, ergonomic, multi-purpose hand-held tool with flexible drive shaft
US11821572B2 (en) 2021-03-18 2023-11-21 Raytheon Company Laterally compliant mounting structure

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3312458A (en) * 1963-02-21 1967-04-04 Skf Svenska Kullagerfab Ab Bearing between two relatively oscillable members for oscillating movement
US3272492A (en) * 1964-03-11 1966-09-13 Northrop Corp Transversely supported torsion bar
US3384424A (en) * 1966-12-29 1968-05-21 Task Corp External cross strap elastic pivot
FR1561634A (en) * 1967-04-07 1969-03-28
US3712081A (en) * 1971-01-11 1973-01-23 G Philipp Universal joint for coupling a plurality of shafts
US4405184A (en) * 1981-03-16 1983-09-20 The United States Of America As Represented By The Administrator Of The National Aeonautics And Space Administration Unidirectional flexural pivot
DE3227988C2 (en) * 1982-07-27 1984-05-30 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Shaft coupling
DE3241373A1 (en) * 1982-11-09 1984-05-10 Anschütz & Co GmbH, 2300 Kiel SPRING JOINT
US4802784A (en) * 1988-03-11 1989-02-07 Santa Barbara Research Center Bi-flex pivot

Also Published As

Publication number Publication date
AU2001245697A1 (en) 2001-09-24
US6318923B1 (en) 2001-11-20
JP2003527546A (en) 2003-09-16
DE60111193D1 (en) 2005-07-07
JP3881552B2 (en) 2007-02-14
EP1264111B1 (en) 2005-06-01
ATE296971T1 (en) 2005-06-15
WO2001069096A3 (en) 2001-12-27
DE60111193T2 (en) 2006-03-16
EP1264111A2 (en) 2002-12-11

Similar Documents

Publication Publication Date Title
US7275332B2 (en) Multi-axis positioning apparatus
US11572918B2 (en) Pivot mechanism with flexible elements for large-amplitude rotation guiding and pivot assembly comprising a plurality of said pivot mechanism
US5529277A (en) Suspension system having two degrees of rotational freedom
US8113083B2 (en) Device for displacing and positioning an object in space
US8434196B1 (en) Multi-axis compliant hinge
EP3870868B1 (en) Flexure device
US6688183B2 (en) Apparatus having motion with pre-determined degrees of freedom
US2966049A (en) Universal flexure joint
US8191204B2 (en) Selective compliance hinge
EP1264111B1 (en) Stable bi-axial pivot flexure coupling
JPS5874994A (en) Connecting structure for supporting load
WO1982001760A1 (en) Universal mechanical linkage
Farhadi Machekposhti et al. The scope for a compliant homokinetic coupling based on review of compliant joints and rigid-body constant velocity universal joints
US4934860A (en) Pivotal shaft frictionless support arrangement
EP3771840B1 (en) Flexible pivot for space applications
US11780079B2 (en) Flexible structure, particularly for applications in robotics and orthopedics
US11318626B1 (en) Compliant joint for a robotic arm
JPS58211021A (en) Flexible-coupling
US6585445B1 (en) Split tube flexure
CN222924859U (en) Multi-direction isolator with scissor fork structure
US20250044577A1 (en) Flex Hinge Actuator Assembly
CN114033798A (en) A large angle elastic bearing
US20060094514A1 (en) Flexible coupling
JP3546011B2 (en) Actuator device and flap drive device
US20060094513A1 (en) Coupling apparatus

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
AK Designated states

Kind code of ref document: A3

Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

WWE Wipo information: entry into national phase

Ref document number: 2001918644

Country of ref document: EP

ENP Entry into the national phase

Ref country code: JP

Ref document number: 2001 567946

Kind code of ref document: A

Format of ref document f/p: F

WWP Wipo information: published in national office

Ref document number: 2001918644

Country of ref document: EP

WWG Wipo information: grant in national office

Ref document number: 2001918644

Country of ref document: EP