Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams

Ali Amoozandeh Nobaveh*, Giuseppe Radaelli, Just L. Herder

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)
12 Downloads (Pure)


A cantilevered rod's endpoint has a symmetric stiffness profile throughout its range of motion. Generally, this is not the case for spatially curved compliant beams, particularly if they are asymmetric, i.e., their fixation is not in the symmetry plane of their endpoint operating field. This paper discusses a technique for obtaining symmetric kinetostatic behavior from this type of asymmetric compliant beam over a relatively large range of motion. To accomplish this, a parametrization scheme was used to base the geometry of the beam on a limited number of control parameters. These parameters were then used as inputs for optimization in order to create beams with symmetric endpoint behavior. This process was further investigated using different sets of parameters. To validate the method's performance, experiments on prototypes were conducted. The results demonstrated a high degree of congruence with simulations of the anticipated behavior. Comparing to the non-optimized benchmark beam, the experimental performance of the resulting shapes demonstrated up to a 68% improvement in the desired symmetric behavior.

Original languageEnglish
Article number041010
Number of pages8
JournalJournal of Mechanisms and Robotics
Issue number4
Publication statusPublished - 2023


  • beam shape optimization
  • kinetostatic behavior
  • spatial compliant mechanisms


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