Wave Washer Flexible Member With Asymmetric Welded Joints
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Solution Overview
Problem
There is a limit in securing load resistance and flexibility while achieving a reduction in size for flexible members used in joint functioning parts of robots and manipulators.
Innovation Solution
A flexible member is designed with a main body composed of stacked wave washers having closed ring shapes, joined by linearly shaped welded parts that gradually separate in the circumferential direction, allowing for elastic deformation and bending, which curbs the difference in deformation between inner and outer circumferences and reduces stress deviation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a coil spring is used to secure high degree of freedom for bending operation, then flexibility is improved, but size reduction is limited due to the need to secure load resistance
Solution Approach 1:
The flexible member is segmented into multiple wave washers (first wave washer, second wave washer, etc.) stacked in series along the axial direction. Each wave washer acts as an independent elastic element that can deform individually, providing cumulative bending freedom while maintaining a compact overall structure. This segmentation allows the system to achieve high adaptability without increasing volume proportionally.
Solution Approach 2:
Multiple wave washers are nested stacked within each other along the axial direction, with each wave washer containing the next one. This nesting arrangement allows multiple elastic elements to occupy minimal space while collectively providing the required bending freedom and load resistance, effectively resolving the contradiction between flexibility and size.
2Device complexity
If wave washers are joined by conventional joint parts, then structural simplicity is maintained, but stress deviation occurs due to difference in deformation amounts between inner and outer circumferences
Solution Approach 1:
The joint part employs an asymmetric welded structure where the welded portion extends only from the inner circumferential side toward the outer circumferential side, rather than spanning the entire circumference. This asymmetric design allows the joint part to accommodate the natural differential deformation between inner and outer circumferences during bending, preventing stress concentration and improving durability while maintaining structural simplicity.
Solution Approach 2:
The joint part applies welding only in specific local regions (from inner circumferential side toward outer circumferential side) rather than uniformly across the entire joint. This localized welding approach allows different regions of the wave washer to deform according to their local stress conditions, reducing overall stress deviation while keeping the joint part structure simple.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This design achieves excellent load resistance and flexibility while reducing size, enhances durability by minimizing stress deviation, and allows for stable and accurate bending operations.
Implementation Method 1
a main body part in which a plurality of wave washers having closed ring shapes is stacked in an axial direction and joined to each other by a plurality of joint parts, and the main body part is able to be bent with respect to the axial direction due to elastic deformation of the wave washers
Data Source
AI summary
A flexible member is provided which can have excellent load resistance and flexibility while being more compact. This flexible member has a main body part in which multiple wave washers having closed ring shapes is stacked in an axial direction and joined to each other by multiple joint parts, and the main body part is able to be bent with respect to the axial direction due to elastic deformation of the wave washers. Each of the joint parts includes: a pair of welded parts in linear shape, being gradually separated from each other in a circumferential direction from an inner circumferential side toward an outer circumferential side of the wave washer.