The Interior Contact-Aided Rolling Element

This work introduces an interior contact-aided rolling element (I-CORE) compliant mechanism that draws upon the concepts used for the contact-aided rolling element, cross-axis flexural pivot, and pre-curved flexible beam. The I-CORE incorporates a bilinear compressive stiffness response with an initial tailorable stiffness governed by the flexural geometry, followed by a stiffness curve governed by the material stiffness at the contact point. The I-CORE mechanism can achieve one or two degrees of rotational freedom as well as a single degree of translational freedom. The purpose of the present work was to introduce the I-CORE mechanism, as well as a pseudo-rigid-body replacement model (PRBM) of the I-CORE mechanism which was subsequently validated using both finite element analysis and benchtop mechanical testing. A pseudo-rigid body model was created for the I-CORE to simplify the rapid adaptation of this mechanism to different design applications. This model was validated using both finite element analysis and benchtop mechanical testing under both compression and rotation loading conditions. Additionally, multiple configurations of the device were created and evaluated in order to test its sensitivity to certain design features including the flexure width, flexure thickness, and the radius of the rounded contact surfaces. It was found that the model is sensitive to the thickness of the flexures and that despite some limitations, the pseudo-rigid body model is sufficiently accurate for initial design work. Some possible applications of the mechanism are proposed.