Spatial compliant mechanism are challenging to design owing to their complex spatial kinetic and kinematic behavior. There are many synthesis methods to design compliant mechanisms, but they are often presented for planar mechanisms or have other limitations such as lack of designer input possibilities. In this paper a method based on the compliance ellipsoid is presented to create compliant mechanism topologies for spatial design cases. The result of this synthesis method is a qualitative concept which fundamentally creates the desired kinetic and kinematic profile. This concept can then be further refined using a large deformation eigentwist analysis, presented here. Lastly, these tools are used in a design example to show its potential.

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