Abstract
A design approach for the quasi-static balancing of four-bar linkages with torsion springs is proposed. Such an approach is useful in the design of quasi-statically balanced fully compliant mechanisms by tuning the stiffness of the pseudo-rigid-body-model. Here, the positive stiffness exhibited by torsion springs at the R-joints is compensated by a negative stiffness function. The negative stiffness is created by a non-zero-free-length linear spring connected between the coupler link and the ground, and where both connecting points trace a line directed to the coupler link's instant center of rotation. A full example of the static balancing of two compliant linkages for approximate straight path generation is developed, where actuation energy of the compliant designs is reduced in 66% and 54%, respectively.
Original language | English |
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Article number | 031010 |
Number of pages | 13 |
Journal | Journal of Mechanisms and Robotics |
Volume | 13 |
Issue number | 3 |
DOIs | |
Publication status | Published - 2021 |
Keywords
- Compliant mechanism
- Energy-free systems
- Equipotential circle
- Instant center of rotation
- Negative stiffness
- Osculating circle
- Static balancing
- Torsion spring
- Zero stiffness