Spatial flexure mechanism analysis: Energy-based geometric stiffness modeling

Flexure mechanisms are used in precision applications for their ability to guide motion with high repeatability. While traditional rigid-link mechanisms move due to rolling or sliding components that induce hysteresis, flexure mechanisms move solely due to elastically deforming components. This means that flexure mechanisms operate without friction, backlash, stick-slip and wear, resulting in low hysteresis. The elastic deformation also presents challenges. The accompanying stress limits the range of motion by yielding and fatigue, and the changing configuration decreases the support stiffness. This thesis presents research on modeling techniques and design principles for flexure mechanisms in order to improve the stiffness characteristics of flexure mechanisms with a large range of motion.