Lamina emergent torsional joint and related methods
A torsional joint assembly formed from a substantially planar material sheet comprises a plurality of contiguous segments. The contiguous segments include at least two, substantially parallel hinge segments, each being coupleable to a loading structure; and at least a first connecting element connecting the hinge segments one to another, the connecting element extending substantially orthogonally to the hinge segments.
1. A torsional joint assembly formed from a substantially planar material sheet, comprising:
a plurality of contiguous segments, including:
at least two, substantially parallel hinge segments, each being coupleable to a loading structure, at least one of the parallel hinge segments being coupled to a loading beam that divides the at least one parallel hinge segment into a pair of substantially collinear hinge segments; and
at least a first connecting element connecting the hinge segments one to another, the connecting element extending substantially orthogonally to the hinge segments; wherein:
the assembly includes at least two configurations: i) a first, substantially flat configuration in which the contiguous segments are coplanar; and ii) a second, biased configuration, in which the connecting elements are moved out of plane from the substantially flat configuration and the hinge segments are torsionally biased so as to apply a restoring force that tends to return the assembly to the substantially flat configuration.
2. The assembly of claim 1 , further comprising a second connecting element connecting the hinge segments one to another, the second connecting element extending substantially parallel to the first connecting element.
3. The assembly of claim 2 , wherein the first and second connecting elements extend from or adjacent opposing ends of the hinge segments.
4. The assembly of claim 1 , wherein a thickness of the material sheet is less than about 0.1 inches.
5. The assembly of claim 4 , wherein the thickness of the material sheet is less than about 10 μm.
6. The assembly of claim 1 , further comprising a gap formed between the at least two substantially parallel hinge segments, the gap separating the hinge segments from contact with one another when the joint assembly is in a nominal, relaxed configuration.
7. The assembly of claim 6 , wherein the hinge segments separate from one another when the joint assembly is in an actuated state.
8. The assembly of claim 1 , wherein the pair of substantially collinear hinge segments each has substantially the same length.
9. The assembly of claim 1 , wherein each of the parallel hinge segments is coupled to a loading beam that divides each of the parallel hinge segments into a pair of substantially collinear hinge segments.
10. A compliant mechanism installable as a component of an ancillary system, comprising:
at least two loading structures, configured to receive or react to a loading force applied during operation of the ancillary system;
a torsional joint assembly formed from a substantially planar material sheet, the joint assembly including:
a plurality of contiguous segments, including:
at least two, substantially parallel hinge segments, at least one of the parallel hinge segments being coupled to a loading beam that divides the at least one parallel hinge segment into a pair of substantially collinear hinge segments, each of the parallel hinge segments being coupleable to or formed integrally with one of the at least two loading structures; and
at least a first connecting element connecting the hinge segments one to another, the connecting element extending substantially orthogonally to the hinge segments; wherein
the compliant mechanism includes at least two configurations: i) a first, substantially flat configuration in which the contiguous segments are coplanar; and ii) a second, biased configuration, in which the connecting elements are moved out of plane from the substantially flat configuration and the hinge segments are torsionally biased so as to apply a restoring force that tends to return the torsional joint assembly to the substantially flat configuration.
11. The mechanism of claim 10 , further comprising a second connecting element connecting the hinge segments one to another, the second connecting element extending substantially parallel to the first connecting element.
12. The mechanism of claim 11 , wherein the first and second connecting elements extend from or adjacent opposing ends of the hinge segments.
13. The mechanism of claim 10 , wherein the mechanism includes at least two torsional joint assemblies arranged linearly when the compliant mechanism is in the substantially flat configuration, the at least two torsional joint assemblies coiling about axes that are substantially parallel to a plane defined by the compliant mechanism when in the substantially flat configuration as the at least two loading structures move in a plane substantially orthogonal to the plane defined by the compliant mechanism when in the substantially flat configuration.
14. The mechanism of claim 10 , wherein the mechanism comprises a spherical compliant mechanism that includes at least two torsional joint assemblies arranged radially about the mechanism, the at least two torsional joint assemblies cooperating to apply a rotational counterforce when loading structures of the compliant mechanism are rotationally actuated.
15. The assembly of claim 10 , wherein the pair of substantially collinear hinge segments each has substantially the same length.
16. The assembly of claim 10 , wherein each of the parallel hinge segments is coupled to a loading beam that divides each of the parallel hinge segments into a pair of substantially collinear hinge segments.