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arXiv · 2610.07319

Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces

Siyue Yao·Xiaochi Xie·Shixuan Zhao·Yutong Li·Hao Li·Mark R. Cutkosky·Genliang Chen
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Abstract

Compliant mechanisms provide compact and intrinsic structural compliance for regulating physical interactions between mechanisms and environments. However, different tasks demand distinct stiffness characteristics, often requiring task-specific optimization and redesign due to limited geometric design space and inherent coupling among multiple stiffness components. This paper presents a Lego-like stiffness configuration approach using stackable planar compliant modules. Three complementary module geometries are introduced, with their stiffness characteristics further regulated through beam width, plate thickness, and module orientation. A unified stiffness model is established for quantitative analysis of individual and composed modules. Further, a two-stage optimization method is presented to achieve desired stiffness profiles, combining a genetic algorithm for configuration and sequential quadratic programming for parameter refinement. Experimental verification shows deviations below 6.5% for simulated stiffness. A flexible wrist is further developed as a representative implementation, exhibiting distinct compliant and dynamic responses under different stiffness characteristics. An optimized modular composition realizes prescribed stiffness values and maintains compliant obstacle interaction during high-speed motion at 1 m/s, with a maximum tested angular compliance of approximately $15^\circ$. The proposed framework provides a systematic approach for constructing flexible interfaces with task-specific stiffness characteristics.

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Siyue Yao, Xiaochi Xie, Shixuan Zhao, Yutong Li, Hao Li, Mark R. Cutkosky, Genliang Chen. 2026-10-05. Lego-Like Stiffness Configuration of Planar Compliant Modules for Task-Specific Flexible Interfaces. https://arxiv.org/abs/2610.07319

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