Spatial modeling and analysis of generalized sandwich design for compliant rotational and translational joints
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Published Version
Date
2026-07-15
Authors
Li, Shiyao
Zhu, Jiaxiang
Hao, Guangbo
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier Ltd
Published Version
Abstract
Compliant joints are usually fabricated from elastic materials, with elastic sheets, rods, or their combination being the most common implementations. However, a generalized design and spatial model of compliant joints that can evolve into either rotational or translational joints has not been fully investigated. Furthermore, a generalized method for deriving the center shift of rotational joints is also lacking. This paper aims to address the above concerns by presenting a generalized compliant joint composed of elastic sheets. Building on foundational concepts from prior research, this study utilizes the sandwich interconnection to increase out-of-plane stiffness. A normalized nonlinear spatial analytical model for the generalized sandwich design is proposed and fully verified via nonlinear finite element analysis. The out-of-plane stiffness of the joint is analyzed sufficiently along each direction, in terms of stiffness changes/improvement against geometric parameters and primary rotational motion. Symmetric joints are prevalent, but this study uncovers asymmetric features by comparing normalized stiffness ratios of asymmetric and symmetric sandwich joints across a range of geometric parameters. Prototypes of both the generalized sandwich design and its counterpart, the two-layer design, have been manufactured and experimentally tested, thereby providing further verification of the analytical model and the nonlinear stiffness characteristics. Finally, employing our analytical model, a generalized method for determining the center shift of complaint rotational joints is established. This method is employed in a global parameter search to optimize center shift in generalized sandwich rotational joints, ensuring solution stability. Topology optimization is also used to achieve weight reduction in the proposed design.
Description
Keywords
Asymmetric design , Center shift , Compliant joints , Nonlinear spatial analysis , Remote center of motion , Stiffness variation , [EngineeringArchitecture]
Citation
Li, S, Zhu, J & Hao, G 2026, 'Spatial modeling and analysis of generalized sandwich design for compliant rotational and translational joints', International Journal of Mechanical Sciences, vol. 322, 111698, pp. 1-31. https://doi.org/10.1016/j.ijmecsci.2026.111698