Development of Single Piece Designed Compliant Locomotive Mechanism

Biomimetic robots have been the focus of many studies for the last decades since the motion in nature is accomplished through the bending of the flexible arms once subjected to an input force, displacement or torque as opposed to their rigid body counterparts thereby increasing the workspace. This study presents the design, analysis, and modeling of a novel monolithically designed compliant mechanism. The mechanism consists of two translational springs, three sliding carts, housing for the two servo motors, and two rigid-flexure-rigid (RFR) arms. While the main body of the biomimetic robot can be 3D printed using polyethylene terephthalate glycol (PETG), the RFR links are 3D printed in thermoplastic polyurethane (TPU) to prevent yielding when loaded. The mechanism model is derived using D’Alembert’s principles, pseudo rigid body modeling, and kinematic constraints. Finite element analysis is performed in MSC Adams and simulation model outputs are validated through experimental data for forward motion.