Relationship between mechanism performance and structural parameters of multi-layered lamina emergent mechanisms

A general pseudo-rigid-body model was built for multi-layered lamina emergent mechanisms (LEMs). Based on the analogous linear coil spring model of lamina emergent torsional (LET) joints, a general theoretical formula was derived to describe the relationship between the input load and the output angular displacement of LEMs. The main structural parameters influencing the output were analyzed, and their influence trends were studied in the same load case. According to analysis results, a set of initial values was designed to the structural parameters for an example of the mechanism. The effects of the length and width of LET joint torsional hinges on the angular displacement and error of the mechanism were discussed by theoretical calculations and finite element simulation.