@inproceedings{24711cf1cf6147358e37564e019eb0c0,
title = "Static balancing of four-bar linkages with torsion springs by exerting negative stiffness using linear spring at the instant center of rotation",
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{\textquoteright}s instant center of rotation. An example of the static balancing of the Burmester{\textquoteright}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.",
keywords = "Energy-free systems, Equipotential circle, Instant center of rotation, Negative stiffness, Osculating circle, Static balancing, Torsion spring, Zero stiffness",
author = "Franco, {Jorge A.} and Gallego, {Juan A.} and Herder, {Just L.}",
year = "2020",
doi = "10.1115/DETC2020-22352",
language = "English",
series = "Proceedings of the ASME Design Engineering Technical Conference",
publisher = "ASME",
booktitle = "Proceedings of the 44th Mechanisms and Robotics Conference (MR)",
address = "United States",
note = "ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020 ; Conference date: 17-08-2020 Through 19-08-2020",
}