Precision Engineering 37 (2013) 135–145

Contents lists available at SciVerse ScienceDirect

Precision Engineering
journal homepage: www.elsevier.com/locate/precision

Closed-form compliance equations for power-function-shaped flexure hinge

based on unit-load method
Li Qiang ∗ , Pan Cunyun, Xu Xiaojun
Institute of Mechanical Engineering and Automation, National University of Defense Technology, Changsha, Hunan 410073, PR China

a r t i c l e i n f o a b s t r a c t

Article history: A new type of flexure hinge, called power-function-shaped flexure hinge, is presented in this paper.
Received 8 February 2012 Based on the unit-load method, the closed-form compliance equations of the flexure hinge are derived,
Received in revised form 25 June 2012 and the motion accuracy is investigated. These equations are verified through finite element analysis,
Accepted 23 July 2012
which shows that the maximum error is less than 15%. Based on the compliance equations, numerical
Available online 28 July 2012
simulations are conducted to discuss the performance of the flexure hinge. The results indicate that, the
stiffness of the power-function-shaped flexure hinge decreases as r increases, increases as ˇ increases, and
Keywords:
increases as t increases; the displacement along axis y is the dominant parasitic motion; and based on the
Flexure hinge
Compliance
same l, h and b, the power-function-shaped flexure hinge can rotate more accurately than circular flexure
Motion accuracy hinge with the same ˇ and V-shaped flexure hinge with the same ˇ and r. The equations obtained can
The unit-load method be utilized to design the power-function-shaped flexure hinges, and can achieve higher motion accuracy
Finite element analysis than the commonly used circular flexure hinge and V-shaped flexure hinge.
Crown Copyright © 2012 Published by Elsevier Inc. All rights reserved.

1. Introduction

The flexure hinge is a substitution of the conventional joints. The characteristics of flexure hinge include high precision, the elimination
of friction, backlash and assembly error and low cost in manufacturing. They are widely used in applications where high precision and
small displacement are required, such as micro-positioning stage and micro manipulators, piezoelectric actuators, alignment devices with
high accuracy, displacement amplifiers, antennas, etc. [1–10].
Various flexure hinges have been analyzed for many years. Paros and Weisbord [11] introduced the circular flexure hinge and derived
the analytical closed-form compliance equations for a circular flexure hinge. Wu and Zhou [12] derived the full and simplified compliance
equations of circular flexure hinges. Smith et al. [13] researched the leaf-type springs such as notch or two-axis flexure hinges. Lobontiu et al.
[14–17] presented corner-filleted flexure hinges, cross-section corner-filleted flexure hinges, and conic-section flexure hinges, including
circular flexure hinges, elliptical flexure hinges, parabolic flexure hinges, hyperbolic flexure hinges, etc. The closed-form compliance
equations and the motion accuracy were discussed base on the Castigliano’s second theorem, and the results were verified through finite
element analysis. Tian et al. [18,19] proposed V-shaped flexure hinges, derived the closed-form compliance equations and the motion
accuracy equations. The V-shaped flexure hinges ranges from leaf flexure hinge to circular flexure hinge. Chen et al. [20] presented a
generalized model for commonly used flexure hinges, called elliptical-arc-fillet flexure hinge. The compliance and the motion accuracy
matrices of the flexure hinges were derived and verified by finite element analysis. Vallance et al. [21] described a general model suited to
represent the entire family of conic section shapes using quadratic rational Bezier curves, which is suitable for computer aided design and
analysis. Yong et al. [22] reviewed the circular flexure hinge design equations, and compared the veracity of several methods, including
the integration of linear differential equations, the method based on the Castigliano’s second theorem, the empirical equations formed by
finite element analysis, etc.
A new type of flexure hinge, called power-function-shaped flexure hinge, is presented in this paper. The profile curve of the flexure
hinge consists of two parts: circular curve and power-function curve. The closed-form compliance equations are derived based on the unit-
load method, and the motion accuracy, denoted by the displacement of the center point of the flexure hinge, is calculated. The equations
obtained are verified through finite element analysis. Furthermore, numerical simulations and comparisons are performed to analyze the
characteristics of the power-function-shaped flexure hinge.

∗ Corresponding author.
E-mail address: liqiangnudt@126.com (Q. Li).

0141-6359/$ – see front matter. Crown Copyright © 2012 Published by Elsevier Inc. All rights reserved.
http://dx.doi.org/10.1016/j.precisioneng.2012.07.010
136 Q. Li et al. / Precision Engineering 37 (2013) 135–145

Fig. 1. 3D geometric model of the power-function-shaped flexure hinge.

2. Models of power-function-shaped flexure hinge

The 3D geometric model of the power-function-shaped flexure hinge is shown in Fig. 1. The Cartesian coordinate frame is utilized,
the origin is located at the center point of the flexure hinge, and the x and y axes are in the longitudinal and altitudinal directions,
respectively. The circular curve and the power-function-shaped curve, which are tangential at the connective point, are shown in
Fig. 1.
The geometric definition of the flexure hinge is illustrated in Fig. 2. For power-function-shaped flexure hinge: n denotes the power of
the profile curve; b denotes the width of the flexure hinge; t denotes the minimum thickness of the flexure hinge; c denotes the depth of
the flexure hinge; h denotes the height of the flexure hinge; l denotes the length of the flexure hinge; r denotes the radius of the circle line;
 denotes the angle of the circular arc.
The power-function-shaped profile curve is defined as follows:
⎧ 
⎪
⎪ y = r + 0.5t − r 2 − x2 , |x| ≤ r sin 
⎪
⎪
⎨ l
y = (ax + p)n , r sin  ≤ x ≤ (1)
⎪
⎪
2
⎪
⎪
⎩ y = (−ax + p)n , − l ≤ x ≤ −r sin 
2
In Eq. (1), coefficients a and p are defined as follows:
⎧
⎪
⎪ ((2c + t)/2)
1/n
− (r + (t/2) − r cos )
1/n
⎨a = , 0<n<1
(l/2) − r sin 
(2)
⎪  1/n al
⎪
⎩ p = 2c + t − , 0<n<1
2 2
To discuss the shape of the flexure hinge, suppose h = 20 mm, l = 30 mm, t = 5 mm, and then the shape of the flexure hinge is determined
by r and n. For a given circular arc radius r, when n ranges from 0 to 1, the flexure hinge accordingly ranges from a circular flexure hinge
with smaller dimensions to a V-shaped flexure hinge. Fig. 3 shows the scope of the flexure hinge when r equals to 3 mm and n ranges from
0 to 1.
For a given coefficient n, r ranges from the minimum value rmin , 3 mm here, to the maximum value rmax . Based on empirical laws, rmin
is given to avoid stress concentration, which can be verified through finite element method. The maximum value rmax can be calculated as
follow:
c 2 + 0.25l2
rmax = (3)
2c
Accordingly the flexure hinge ranges from a power-function-shaped flexure hinge to a circular flexure hinge with the same dimensions.
When n equals to 0.5 and r ranges from 3 mm to 18 mm (rmax ), the scope of the flexure hinge is shown in Fig. 4.
To analyze the deformation of the flexure hinge, there are several basic simplifying assumptions as follow:

Fig. 2. The geometric definition of the power-function-shaped flexure hinge.

 Q. Li et al. / Precision Engineering 37 (2013) 135–145 137

Fig. 3. Scope of the flexure hinge when r = 3 and n ranges from 0 to 1.

Fig. 4. Scope of the flexure hinge when n = 0.5 and r ranges from rmin to rmax .

Fig. 5. Loads of the flexure hinge.

• The flexure hinge is assumed as an Euler–Bernoulli beam, and it is symmetrical about plane xoz and yoz, respectively.
• The small displacement theory is applied for the deformation of the flexure hinge.
• The boundary conditions include that, the left end of the flexure hinge is fixed, and the right end is free. The loads are applied on the
cross section of the free end.
• The flexure hinge is subjected to bending moment, axial force and shearing force, while the torsion effect is not taken into account.

The loads acted on the free end (noted as point 1) of the flexure hinge are shown in Fig. 5.
Note the mid cross section of the flexure hinge as point 2, and the unit loads utilized at points 1 and 2 are shown in Fig. 6.

Fig. 6. Unit loads of the flexure hinge.

138 Q. Li et al. / Precision Engineering 37 (2013) 135–145

3. Compliance model

Define the force vector F and the deformation vector  as follows:

⎧

⎨ F = Fx , Fy , Fz , My , Mz T
⎩
T (4)
 = x , y , z , ˛y , ˛z

The following relationship can be obtained:

 = CF (5)

And the compliance matrix C can be written as follow:

⎡ ⎤
x
0 0 0 0
⎢ Fx ⎥
⎢ ⎥
⎢ 0 y y ⎥
⎢ 0 0 ⎥
⎢ Fy Mz ⎥
C=⎢ ⎥ (6)
⎢ z z ⎥
⎢ 0 0 0 ⎥
⎢ Fz My ⎥
⎣ ⎦
˛z ˛z
0 0 0
Fy Mz

C is a symmetric matrix, and then we know the relationships:

y ˛z z ˛y
= , = (7)
Mz Fy My Fz

The deformation displacements can be derived based on the unit-load method, which can be described as:
  
FN F̄N M M̄ Fs F̄s
(i) = dx + dx + ˛s dx (8)
l
EA l
EI l
GA

In Eq. (8), (i) is one element of , A is the cross section of the flexure hinge, I is the moment of inertia, E is the Young’s modulus, and
G = E/(2(1 + )), where  is the Poisson’s coefficient. FN is the force along axis x, M is the bending moment, FS is the shearing force, and F̄N ,
M̄, F̄S is the corresponding unit load, respectively. ˛s is the coefficient of shearing effect, and for rectangular section, ˛s = 1.2.
The elements of compliance matrix C are calculated as follows, where Ii (i = 1–6) are developed in Appendix A.

3.1. Angular compliance about axis z

As shown in Fig. 5, utilize unit load M̄1z at point 1, and the internal forces induced by M̄1z are as follows: F̄N = 0, M̄ = −M̄1z , F̄S = 0.
On the other hand, the internal forces induced by Fy are as follows: M = Mz (x) = −Fy (l/2 − x), FN = 0, FS = −Fy , and the internal forces induced
by Mz are as follows: FN = 0, M = −Mz , FS = 0. Substituting the internal forces into Eq. (8), the elements ˛z /Fy and ˛z /Mz can be obtained
as follows:

˛z l
(M M̄/EIz (x))dx 3l
= = I4 (9)
Fy Fy 2Eb

˛z l
(M M̄/EIz (x))dx 3
= = I4 (10)
Mz Mz Eb

where Iz (x) is the moment of inertia about axis z, and Iz (x) = 2/3by3 (x).

3.2. Linear compliance along axis z

As shown in Fig. 5, utilize unit load F̄1z at point 1, and the internal forces induced by F̄1z are as follows: F̄N = 0, M̄ = −F̄1z (l/(2 − x)),
F̄S = −F̄1z . On the other hand, the internal forces induced by Fz can be written as follows: FN = 0, M = My (x) = −Fz (l/2 − x), FS = −Fz , and the
internal forces induced by My are as follows: FN = 0, M = −My , FS = 0. Substituting the internal forces above into Eq. (8), the elements z /Fz
and z /My can be obtained as follows:
 
z l
(M M̄/EIy (x))dx ˛s l
(Fs F̄s /GA(x))dx 3l2 12 ˛s
= + = I1 + 3 I3 + I1 (11)
Fz Fz Fz Eb3 Eb Gb

z l
(M M̄y (x)/EIy (x))dx 6l
= = I1 (12)
My My Eb3

where Iy (x) = 1/6b3 y(x), and A(x) = 2by(x).

 Q. Li et al. / Precision Engineering 37 (2013) 135–145 139

3.3. Angular compliance about axis y

As shown in Fig. 5, utilize unit load M̄1y at point 1, and the internal forces induced by M̄1y are as follows: F̄N = 0, M̄ = −M̄1y , F̄S = 0.
Considering Eqs. (7) and (12), we know that only the element ˛y /My need to be calculated. The internal forces induced by My have been
discussed in Section 3.2, and then the element ˛y /My can be obtained as follows:

˛y l
(My (x)M̄/EIy (x))dx 12
= = I1 (13)
My My Eb3

3.4. Linear compliance along axis y

As shown in Fig. 5, utilize unit load F̄1y at point 1, and then the internal forces induced by F̄1y are as follows: F̄N = 0, M̄ = −F̄1y (l/2 − x),
F̄S = −F̄1y . Considering Eqs. (7) and (9), we know that only the element y /Fy needs to be calculated. The internal forces induced by Fy have
been discussed in Section 3.1, and then the element y /Fy can be calculated as follow:
 
y l
(Mz (x)M̄/EIz (x))dx ˛s l
(Fs (x)F̄s /GA(x))dx 3l2 3 ˛s
= + = I4 + I6 + I1 (14)
Fy Fy Fy 4Eb 2Eb Gb

3.5. Linear compliance along axis x

As shown in Fig. 5, utilize unit load F̄1x at point 1, and then the internal forces induced by F̄1x are as follows: F̄N = −F̄1x , M̄ = 0, F̄S = 0.
On the other hand, the internal forces induced by Fx are as follows: FN = −Fx , M = 0, FS = 0. Substituting the internal forces above into Eq. (8),
the element x /Fx can be calculated as follow:

x l
(FN (x)F̄N /EA(x))dx 1
= = I1 (15)
Fx Fx Eb

4. Motion accuracy analysis

The rotational center of the flexure hinge drifts during the deforming process. This phenomenon is undesirable in its application,
especially in amplifying mechanism. To calculate the motion accuracy of the flexure hinge, the linear displacements along axis x, y and z
of the center point (noted as point 2) are utilized to describe the motion accuracy of the flexure hinge. Define the displacement vector Y as
follow:

T
Y = ıx , ıy , ız (16)

The following relationship can be obtained:

⎡ ⎤ ⎡ Fx ⎤
ıx
0 0 0 0
⎢ Fx ⎥⎢ Fy ⎥
⎢ ⎥⎢⎢
⎥
⎥
⎢ ıy ıy ⎥ ⎢
Y = Cm F = ⎢ 0 0 0 ⎥⎢ z ⎥
F ⎥ (17)
⎢ Fy Mz ⎥ ⎢
⎣ ⎦ ⎣ My ⎥
⎦
ız ız
0 0 0
Fz Mz Mz

4.1. Linear compliance of center point along axis x

As shown in Fig. 5, utilize unit load F̄2x at point 2, and the internal forces induced by F̄2x are as follows:

−F̄2x , − l/2 ≤ x ≤ 0
F̄N = , M̄ = 0, F̄S = 0 (18)
0, 0 < x ≤ l/2

On the other hand, the internal forces induced by force Fx have been calculated in Section 3.5, and then the element ıx /Fx can be obtained
as follow:

ıx l
(FN F̄N /EA(x))dx 1
= = I1 (19)
Fx Fx 2Eb

4.2. Linear compliance of center point along axis y

As shown in Fig. 5, utilize unit load F̄2y at point 2, and the internal forces induced by F̄2y are as follows:
 
F̄2y x, − l/2 ≤ x ≤ 0 −F̄2y , − l/2 ≤ x ≤ 0
F̄N = 0, M̄ = , F̄S = (20)
0, 0 < x ≤ l/2 0, 0 < x ≤ l/2
140 Q. Li et al. / Precision Engineering 37 (2013) 135–145

Fig. 7. Finite element model of power-function-shaped flexure hinge. (a) Errors of the elements of C as r changes. (b) Errors of the elements of Cm as r changes. (c) Errors of
the elements of C as n changes. (d) Errors of the elements of Cm as n changes. (e) Errors of the elements of C as t changes. (f) Errors of the elements of Cm as t changes.

Considering the internal forces induced by Fy and Mz , which have been calculated in Section 3.1, we can obtain the elements ıy /Fy and
ıy /Mz as follows:
 
ıy l
(M M̄/EIz (x))dx ˛s l
(Fs (x)F̄s /GA(x))dx 3 3l ˛s
= + = I6 + I5 + I1 (21)
Fy Fy Fy 2Eb 4Eb 2Gb

ıy l
(M M̄z /EIz (x))dx 3
= = I5 (22)
Mz Mz 2Eb

4.3. Linear compliance of center point along axis z

As shown in Fig. 5, utilize unit load F̄2z at point 2, and the internal forces induced by F̄2z are as follows:
 
F̄2z x, − l/2 ≤ x ≤ 0 −F̄2z , − l/2 ≤ x ≤ 0
F̄N = 0, M̄ = , F̄S = (23)
0, 0 < x ≤ l/2 0, 0 < x ≤ l/2

Considering the internal forces induced by Fz and My , which have been calculated in Section 3.2, we can obtain the elements ız /Fz and
ız /My as follows:
 
ız l
(M M̄/EIy (x))dx ˛s l
(Fs (x)F̄s /GA(x))dx 6 3l ˛s
= + = I3 + 3 I2 + I1 (24)
Fz Fz Fz Eb3 Eb 2Gb

ız l
(M M̄/EIy (x))dx 6
= = I2 (25)
My My Eb3

5. Finite element analysis and verification

The finite element analysis is carried out to verify the compliance equations of the flexure hinge. The parametric finite element model of
the flexure hinge is established with APDL language of the software ANSYS. The 3d method is used to analyze the flexure hinge. The element
solid 186, a higher 3d 20-node solid element suitable for irregular shapes, is utilized to mesh the flexure hinge. The Young’s modulus is
210 GPa, and the Poisson’s ratio is 0.288. The mapping mesh method is utilized to mesh the flexure hinge. The finite element model of the
flexure hinge is shown in Fig. 7.
The boundary conditions are as follows: the left end of the flexure hinge is fixed and the right end of the flexure hinge is free. The
loads are applied on the cross section at the free end of the flexure hinge. To verify the compliance equations of the flexure hinge, take
parameters l = 20 mm, h = 10 mm, b = 10 mm, and the analysis is conducted as follow:

• Take n = 0.5, t = 0.5 mm, and r ranges from 3 mm to 12 mm.

• Take r = 6 mm, t = 0.5 mm, and n ranges from 0.2 to 1.
• Take r = 6 mm, n = 0.5, and t ranges from 0.3 mm to 0.8 mm.

The errors between the analytical results and the finite element analysis results are shown in Fig. 8, where eci (i = 1–7) represents the
error of the elements of C, which are x /Fx , y /Fy , y /Mz , z /Fz , z /My , ˛y /My , ˛z /Mz , respectively, and ecmi (i = 1–5) represents the
error of the elements of Cm , which are ıx /Fx , ıy /Fy , ıy /Mz , ız /Fz , ız /My , respectively.
From Fig. 8 it can be known that, the errors along axis y and about axis z, including eci (i = 2, 3, 7) and ecmi (i = 2, 3), are obviously lower
than eci (i = 1, 4, 5, 6) and ecmi (i = 1, 4, 5); the errors eci (i = 2, 3, 7) and ecmi (i = 2, 3) increase more and more rapidly with decreased r, decrease
with increased n and increase with increased t; the error eci (i = 2, 3, 7) increases more and more rapidly with decreased r when r ≤ 5 mm,
while ecmi (i = 2, 3) remains at a low level; the errors eci (i = 2, 3, 7) and ecmi (i = 2, 3) remain at a low level with increased n; eci (i = 2, 3, 7)
and ecmi (i = 2, 3) take the minimum values as t takes a middle value. The maximum error is 14.9% and the corresponding parameters are
r = 3 mm, n = 0.2, and t = 0.8 mm.
The values and the trends of the errors eci (i = 1–7) and ecmi (i = 1–5) show that, the errors are mainly caused by the hypothe-
sis of the Euler–Bernoulli beam. In directions along axis y and about axis z, the hypothesis is reasonable, while in other directions
it is not suitable very well, and accordingly the errors along axis y and about axis z are much lower than the errors in other
directions.
 Q. Li et al. / Precision Engineering 37 (2013) 135–145 141

Fig. 8. Errors of the elements of C and Cm . (a) Stiffness Fx /x of the flexure hinge. (b) Stiffness Fy /y of the flexure hinge. (c) Stiffness Mz /y of the flexure hinge. (d) Stiffness
Fz /z of the flexure hinge. (e) Stiffness My /z of the flexure hinge. (f) Stiffness My /˛y of the flexure hinge. (g) Stiffness Mz /˛z of the flexure hinge.

6. Numerical simulations and comparisons

6.1. Numerical simulations

The influences of the geometric parameters on the characteristics of the flexure hinge can be investigated utilizing the compliance
equations. To conduct numerical simulations, the parameters l, h and b still remains constant, l = 20 mm, h = 10 mm, b = 10 mm, r ranges
from 3 mm to 12 mm, n ranges from 0.2 to 0.8, and t ranges from 0.2 mm to 1 mm. Define no-dimension parameter ˇ in Eq. (28) to describe
the characteristics of the flexure hinge, and the stiffness, which is the reciprocal of the compliance, is utilized to conduct the numerical
simulations.
The stiffness of the flexure hinge at point 1 is given in Fig. 9. Three types of stiffness are shown in Fig. 9, and their units are N/m, N and
Nm, respectively. It is shown in Fig. 9 that, the stiffness Mz /˛z is much lower than My /˛y , Mz /y is much lower than My /z , and Fy /y is
much lower than Fx /x and Fz /z , which means that the motion about axis z and along axis y is the dominant motion.
On the other hand, the stiffness decreases with increased r, increases with increased ˇ, and decreases with increased n. The
stiffnesses Mz /˛z , Mz /y and Fy /y increase more and more rapidly with increased ˇ and decreased r, while the others are
opposite.
142 Q. Li et al. / Precision Engineering 37 (2013) 135–145

Fig. 9. Stiffness of the end point of power-function-shaped flexure hinge. (a) Stiffness Fx /x of the flexure hinge. (b) Stiffness Fy /y of the flexure hinge. (c) Stiffness Mz /y
of the flexure hinge. (d) Stiffness Fz /z of the flexure hinge. (e) Stiffness of My /z of the flexure hinge.

The stiffness of the flexure hinge at point 2 is given in Fig. 10. Two types of stiffness are shown in Fig. 10, and their units are N/m and
N, respectively.
It is shown in Fig. 10 that, the stiffness Mz /ıy is obviously much lower than My /ız , and Fy /ıy is much lower than Fx /ıx and Fz /ız , which
means that the displacement along axis y is the dominant parasitic motion at point 2. For parameters ˇ, r, and n, the evolve rules of stiffness
at point 2 are similar to those at point 1.
 Q. Li et al. / Precision Engineering 37 (2013) 135–145 143

Fig. 10. Stiffness of the midpoint of power-function-shaped flexure hinge. (a) Scope of ra1 . (b) Scope of ra2 .

6.2. Comparisons

Define stiffness ration ra1 and ra2 as follows:

⎧
⎪ Fy /ıy
⎨ ra1 = M /˛
z z
(26)
⎪
⎩ M z /ıy
ra2 =
Mz /˛z

Fig. 11. Ratios of ra1 and ra2 .

144 Q. Li et al. / Precision Engineering 37 (2013) 135–145

ra1 and ra2 are shown in Fig. 11. It is shown in Fig. 11 that, ra1 and ra2 decrease with increased n, decrease with increased r, and decrease
with increased ˇ, which means that, based on the same l, h, and b, the power-function-shaped flexure hinge can rotate more accurately
than the circular flexure hinge (r = rmax , ˇ takes the same value) and the V-shaped flexure hinge (n = 1, ˇ and r take the same values).

7. Conclusions

The closed-form compliance equations of the power-function-shaped flexure hinge are derived based on the unit-load method and
verified based on the finite element analysis. The influences of the geometric parameters on the characteristics of the flexure hinge are
simulated based on the compliance model obtained above. The results indicate that, the stiffness of the power-function-shaped flexure
hinge decreases with increased r, increases with increased ˇ, and decreases with increased n; the displacement along axis y is the dominant
parasitic motion; and the power-function-shaped flexure hinge can rotate more accurately with decreased r, decreased ˇ and decreased
n. It can be obtained that, based on the same l, h, and b, the power-function-shaped flexure hinge can rotate more accurately than circular
flexure hinge with the same ˇ and V-shaped flexure hinge with the same ˇ and r.

Acknowledgement

This paper is supported by the National 863 Project of PR China (No. 2006AA09Z235).

Appendix A. Integration of Ii (i = 1–6)

Define Ii (i = 1–6) as follow:

⎧  l/2  l/2  l/2
⎪
⎪ 1 x x2
⎨ I1 = y(x)
dx, I2 =
y(x)
dx, I3 =
y(x)
dx
0 0 0
 l/2   (27)
⎪
⎪ 1
l/2
x
l/2
x2
⎩ I4 = dx, I5 = dx, I6 = dx
0
y3 (x) 0
y3 (x) 0
y3 (x)

Define ˇ and  as follow:

t c
ˇ= , = (28)
2r r

Define aˇ and pˇ as follow:

⎧ 1/n 1/n
⎪
⎨ aˇ = a = ( + ˇ) − (1 + ˇ − cos )
1/n r l/2 − r sin 
(29)
⎪
⎩p p 1/n l
ˇ = = (ˇ + ) − aˇ
r 1/n 2

And then Ii0 (i = 1–6) can be calculated as follow:

 
2(1 + ˇ)a tan (2 + ˇ)/ˇ tan (/2) (1/n)−1 (1/n)−1
(ˇ + ) − (1 + ˇ − cos )
I1 =  −+ (30)
ˇ(2 + ˇ) r(1 − n)aˇ

   1
1 + ˇ − cos  1 (2/n)−1 (2/n)−1 pˇ (1/n)−1
I2 = r cos  − 1 + (1 + ˇ) ln + [(ˇ + ) − (1 + ˇ − cos ) ]− [(ˇ + )
ˇ ra2ˇ 2−n 1−n

(1/n)−1
−(1 + ˇ − cos ) ] (31)

⎧  
⎨  3
[2(1 + ˇ) − 2(1 + ˇ)]a tan (2 + ˇ)/ˇ tan (/2) 
1 2 tan(/2) [2(1 + ˇ) − 1] tan(/2)
I3 = r 2
(1 + ˇ) −
2
−  + +
⎩ 2 ˇ(2 + ˇ) (1 + tan2 (/2))
2 1 + tan2 (/2)


1 1 2pˇ p2ˇ
3/n−1 3/n−1 2/n−1 2/n−1 1/n−1
+ [(ˇ + ) − (1 + ˇ − cos ) ]− [(ˇ + ) − (1 + ˇ − cos ) ]+ [(ˇ + )
ra3ˇ 3−n 2−n 1−n

1/n−1
−(1 + ˇ − cos ) ] (32)
 Q. Li et al. / Precision Engineering 37 (2013) 135–145 145

⎧  
⎨ 3(1 + ˇ)a tan (2 + ˇ)/ˇ tan(/2) 
1 2(1 + ˇ) tan(/2) (2ˇ2 + 3ˇ + 3) tan(/2)
I4 = 2  + +
r ⎩ 2
(2 + ˇ) ˇ2 ˇ(2 + ˇ) 2
(2 + ˇ) ˇ(ˇ + (2 + ˇ) tan2 (/2))
2 2
(2 + ˇ) ˇ2 [ˇ + (2 + ˇ) tan2 (/2)]

1/n−3 1/n−3
(ˇ + ) − (1 + ˇ − cos )
+ (33)
r 3 (1 − 3n)aˇ

  1/n−3 1/n−3 1/n 1/n

1 (1 + ˇ)/2 − cos  ˇ−1 [(ˇ + ) − (1 + ˇ − cos ) ][(ˇ + ) − (1 + ˇ − cos ) ]
I5 = 2
− + (34)
r (1 + ˇ − cos ) 2ˇ2 r 3 (2 − 3n)a2ˇ

 
8  8(ˇ2 + ˇ)
a tan (ˇ + 2)/ˇ tan(/2)
1
 n
I6 = − tan −  + 4 + [(ˇ + )
3/n−3
− (1 + ˇ − cos )
3/n−3
]
ˇ+2 2 (ˇ + 2)
2
ˇ/(ˇ + 2) r 3 na3ˇ 3 − 3n

2npˇ np2ˇ
2/n−3 2/n−3 1/n−3 1/n−3
− [(ˇ + ) − (1 + ˇ − cos ) ]+ [(ˇ + ) − (1 + ˇ − cos ) ] (35)
2 − 3n 1 − 3n

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