Static balancing of four-bar linkages with torsion springs by exerting negative stiffness using linear spring at the instant center of rotation

Jorge A. Franco, Juan A. Gallego, Just L. Herder

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

A design approach for the quasi-static balancing of four-bar linkages with torsion springs is proposed. Such approach is useful on the design of statically balanced compliant mechanisms by setting 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. An example of the static balancing of the Burmester’s linkage for straight path generation is developed, where actuation energy is reduced in 94% for a range of motion of 80 degrees for the input link.

Original languageEnglish
Title of host publicationProceedings of the 44th Mechanisms and Robotics Conference (MR)
PublisherASME
Number of pages9
ISBN (Electronic)978-0-7918-8399-0
DOIs
Publication statusPublished - 2020
EventASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020 - Virtual, Online
Duration: 17 Aug 202019 Aug 2020

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume10

Conference

ConferenceASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020
CityVirtual, Online
Period17/08/2019/08/20

Keywords

  • Energy-free systems
  • Equipotential circle
  • Instant center of rotation
  • Negative stiffness
  • Osculating circle
  • Static balancing
  • Torsion spring
  • Zero stiffness

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