Development of a 3D-printed hybrid compliant revolute joint for modular continuum robots

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dc.check.date2029-05-31
dc.check.infoControlled Access
dc.contributor.advisorHao, Guangbo
dc.contributor.advisorKavanagh, Richard
dc.contributor.authorWang, Zhengyaoen
dc.date.accessioned2026-01-22T16:00:12Z
dc.date.available2026-01-22T16:00:12Z
dc.date.issued2025
dc.date.submitted2025
dc.descriptionControlled Access
dc.description.abstractThis thesis presents a novel hybrid compliant revolute joint (CRJ) design, developed for modular integration into a compliant continuum robot (CCR). The joint features a hybrid structure in which stiff polylactic acid (PLA) provides structural reinforcement, while flexible thermoplastic polyurethane (TPU) enables rotational compliance. These materials are spatially distributed to achieve directional stiffness control, and the joints can be monolithically manufactured using dual-material Fused Deposition Modelling (FDM) 3D printing. To support the development of this design, a systematic methodology is proposed that includes mechanical design principles, material selection, and the experimental characterisation of material properties and interfacial bonding parameters, which provides the necessary input for accurate finite element modelling in the commercial software ABAQUS. Simulation results show that the hybrid joint exhibits a higher ratio of off-axis to on-axis rotational stiffness compared to single-material joints made entirely of PLA or TPU. Furthermore, the design offers potential for programmable joint-level stiffness through local adjustment of the soft-to-stiff material ratio. When further assembled with an anti-buckling support frame, the joint becomes suitable for serial integration into a compliant-joint CCR, where the frame ensures structural stability while task-specific compliance is achieved through joint-level tuning.en
dc.description.statusNot peer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationWang, Z. 2025. Development of a 3D-printed hybrid compliant revolute joint for modular continuum robots. MRes Thesis, University College Cork.
dc.identifier.endpage87
dc.identifier.urihttps://hdl.handle.net/10468/18442
dc.language.isoen
dc.publisherUniversity College Corken
dc.rights© 2025, Zhengyao Wang.
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectCompliant revolute jointen
dc.subjectCompliant continuum roboten
dc.subjectHybrid joint designen
dc.subjectDual-material FDM 3D printingen
dc.subjectDirectional stiffness controlen
dc.subjectFinite element modelling (ABAQUS)en
dc.titleDevelopment of a 3D-printed hybrid compliant revolute joint for modular continuum robots
dc.typeMasters thesis (Research)en
dc.type.qualificationlevelMastersen
dc.type.qualificationnameMRes - Master of Research
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