Statically balancing a reconfigurable mechanism by using one passive energy element only: A case study

Chin Hsing Kuo*, Vu Linh Nguyen, Daniel Robertson, Lin Tien Chou, Just L. Herder

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

4 Citations (Scopus)

Abstract

This paper presents the static balancing design of a special reconfigurable linkage that can switch between two one-degree-of-freedom (DoF) working configurations. We will show that the studied dual-mode linkage only requires one mechanical spring or one counterweight for completely balancing its gravitational effect in theory at both modes. First, the theoretical models of the spring-based and the counterweight-based designs are derived. The proposed design concepts were then demonstrated by a numerical example and validated by software simulation. Experimental tests on both designs were also performed. The result of this study shows that a reconfigurable mechanism with N working configurations can be completely statically balanced by using less than N passive energy elements.

Original languageEnglish
Article number040904
Number of pages12
JournalJournal of Mechanisms and Robotics
Volume13
Issue number4
DOIs
Publication statusPublished - 2021

Keywords

  • Gravity compensation
  • Mechanism design
  • Mechanism synthesis
  • Parallel platforms
  • Physical human-robot interaction
  • Reconfigurable mechanism
  • Static balancing

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