Please wait a minute...

Chinese Journal of Mechanical Engineering  2019, Vol. 32 Issue (3): 54-54    DOI: 10.1186/s10033-019-0369-z
  Mechanism and Robotics 本期目录 | 过刊浏览 | 高级检索 |
On Generating Expected Kinetostatic Nonlinear Stiffness Characteristics by the Kinematic Limb-Singularity of a Crank-Slider Linkage with Springs
Baokun Li1, Guangbo Hao2
1. School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China;
2. School of Engineering, University College Cork, Cork T12K8AF, Ireland
On Generating Expected Kinetostatic Nonlinear Stiffness Characteristics by the Kinematic Limb-Singularity of a Crank-Slider Linkage with Springs
Baokun Li1, Guangbo Hao2
1. School of Mechanical Engineering, Anhui University of Science and Technology, Huainan 232001, China;
2. School of Engineering, University College Cork, Cork T12K8AF, Ireland
全文: PDF(3671 KB)  
输出: BibTeX | EndNote (RIS)      
摘要 Being different from avoidance of singularity of closed-loop linkages, this paper employs the kinematic singularity to construct compliant mechanisms with expected nonlinear stiffness characteristics to enrich the methods of compliant mechanisms synthesis. The theory for generating kinetostatic nonlinear stiffness characteristic by the kinematic limb-singularity of a crank-slider linkage is developed. Based on the principle of virtual work, the kinetostatic model of the crank-linkage with springs is established. The influences of spring stiffness on the toque-position angle relation are analyzed. It indicates that corresponding spring stiffness may generate one of four types of nonlinear stiffness characteristics including the bi-stable, local negative-stiffness, zero-stiffness or positive-stiffness when the mechanism works around the kinematic limb-singularity position. Thus the compliant mechanism with an expected stiffness characteristic can be constructed by employing the pseudo rigid-body model of the mechanism whose joints or links are replaced by corresponding flexures. Finally, a tri-symmetrical constant-torque compliant mechanism is fabricated, where the curve of torque-position angle is obtained by an experimental testing. The measurement indicates that the compliant mechanism can generate a nearly constant-torque zone.
服务
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章
Baokun Li
Guangbo Hao
关键词 Kinematic singularityMechanism with springsKinetostatic modelNonlinear stiffness    
Abstract:Being different from avoidance of singularity of closed-loop linkages, this paper employs the kinematic singularity to construct compliant mechanisms with expected nonlinear stiffness characteristics to enrich the methods of compliant mechanisms synthesis. The theory for generating kinetostatic nonlinear stiffness characteristic by the kinematic limb-singularity of a crank-slider linkage is developed. Based on the principle of virtual work, the kinetostatic model of the crank-linkage with springs is established. The influences of spring stiffness on the toque-position angle relation are analyzed. It indicates that corresponding spring stiffness may generate one of four types of nonlinear stiffness characteristics including the bi-stable, local negative-stiffness, zero-stiffness or positive-stiffness when the mechanism works around the kinematic limb-singularity position. Thus the compliant mechanism with an expected stiffness characteristic can be constructed by employing the pseudo rigid-body model of the mechanism whose joints or links are replaced by corresponding flexures. Finally, a tri-symmetrical constant-torque compliant mechanism is fabricated, where the curve of torque-position angle is obtained by an experimental testing. The measurement indicates that the compliant mechanism can generate a nearly constant-torque zone.
Key wordsKinematic singularity    Mechanism with springs    Kinetostatic model    Nonlinear stiffness
收稿日期: 2019-01-16      出版日期: 2019-07-19
基金资助:Supported by National Natural Science Foundation of China (Grant No. 51605006), and Research Foundation of Key Laboratory of Manufacturing Systems and Advanced Technology of Guangxi Province, China (Grant No. 17-259-05-013K)
通讯作者: Guangbo Hao,E-mail:G.Hao@ucc.ie     E-mail: G.Hao@ucc.ie
引用本文:   
Baokun Li, Guangbo Hao. On Generating Expected Kinetostatic Nonlinear Stiffness Characteristics by the Kinematic Limb-Singularity of a Crank-Slider Linkage with Springs[J]. Chinese Journal of Mechanical Engineering, 2019, 32(3): 54-54.
Baokun Li, Guangbo Hao. On Generating Expected Kinetostatic Nonlinear Stiffness Characteristics by the Kinematic Limb-Singularity of a Crank-Slider Linkage with Springs. Chinese Journal of Mechanical Engineering, 2019, 32(3): 54-54.
链接本文:  
http://qikan.cmes.org/CJOME/CN/10.1186/s10033-019-0369-z      或      http://qikan.cmes.org/CJOME/CN/Y2019/V32/I3/54
[1] P Lambert, J L Herder. An adjustable constant force mechanism using pin joints and springs. New Trends in Mechanism and Machine Science, 2017, 43: 453-461.
[2] Y S Zheng, Q P Li, B Yan, et al. A Stewart isolator with high-static-low-dynamic stiffness struts based on negative stiffness magnetic springs. Journal of Sound and Vibration, 2018, 422: 390-408.
[3] Z W Yang, C C Lan. An adjustable gravity-balancing mechanism using planar extension and compression springs. Mechanism and Machine Theory, 2015, 92: 314-329.
[4] J J Yu, S S Bi, G H Zong, et al. Kinematics analysis of fully compliant mechanisms using the pseudo-rigid-body model. Journal of Mechanical Engineering, 2002, 38(2): 75-78. (in Chinese)
[5] J J Yu, G B Hao, G M Chen, et al. State-of-art of compliant mechanisms and their applications. Journal of Mechanical Engineering, 2015, 51(13): 53-68. (in Chinese)
[6] Y Q Yu, Q P Xu, P Zhou. New PR pseudo-rigid-body model of compliant mechanisms subject to combined loads. Journal of Mechanical Engineering, 2013, 49(15): 9-14. (in Chinese)
[7] L L Howell. Compliant mechanisms. New York: John Wiley & Sons, 2001.
[8] S P Pellegrini, N Tolou, M Schenk, et al. Bistable vibration energy harvesters: a review. Journal of Intelligent Material Systems and Structures, 2013, 24(11): 1303-1312.
[9] B Andòa, S Baglioa, A R Bulsarab. A bistable buckled beam based approach for vibrational energy harvesting. Sensors and Actuators A: Physical, 2014, 211: 153-161.
[10] N D K Tran, D A Wang. Design of a crab-like bistable mechanism for nearly equal switching forces in forward and backward directions. Mechanism and Machine Theory, 2017, 115: 114-129.
[11] X Liu, F Lamarqe, E Doré, et al. Multistable wireless micro-actuator based on antagonistic pre-shaped double beams. Smart Materials and Structures, 2015, 24: 075028_1-7.
[12] F L Ma, G M Chen. Bi-BCM: A closed-form solution for fixed-guided beams in compliant mechanisms. ASME Journal of Mechanical Design, 2017, 9(1): 014501_1-8.
[13] P B Liu, P Yan. A modified pseudo-rigid-body modeling approach for compliant mechanisms with fixed-guided beam flexures. Mechanical Science, 2017, 8(2): 359-368.
[14] B D Jensen, L L Howell. Bistable configurations of compliant mechanisms modeled using four links and translational joints. ASME Journal of Mechanical Design, 2014, 126(4): 657-666.
[15] S Amine, O Mokhiamar, S Caro. Classification of 3T1R parallel manipulators based on their wrench graph. ASME Journal of Mechanisms and Robotics, 2017, 9(1): 011003_1-10.
[16] A Karimia, M T Masouleha, P CARDOUB. Avoiding the singularities of 3-RPR parallel mechanisms via dimensional synthesis and self-reconfigurability. Mechanism and Machine Theory, 2016, 99: 189-206.
[17] W Ye, Y F Fang, S Guo, et al. Design of reconfigurable parallel mechanisms with discontinuously movable mechanism. Chinse Journal of Mechanical Engineering, 2015, 51(13): 137-143.
[18] R Ranganatha, P S Nairb, T S Mruthyunjaya, et al. A force-torque sensor based on a Stewart Platform in a near-singular configuration. Mechanism and Machine Theory, 2005, 39(9): 971-998.
[19] P Renaud, M Mathelin. Kinematic analysis for a novel design of MRI-compatible torque sensor. IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, USA: 2640-2646.
[20] B Quentin, V Marc, A Salih. Parallel singularities for the design of softening springs using compliant mechanisms. In ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, August 2-5, 2015, Boston, Massachusetts, USA, DETC2015-47240.
[21] G B Hao, H Y Li, A Nayak, et al. Design of a compliant parallel gripper with multimode jaws. ASME Journal of Mechanisms and Robotics, 2018, 10(3): 031005_1-12.
[22] L Rubbert, S Caro, J Gangloff, et al. Using singularities of parallel manipulators for enhancing the rigid-body replacement design method of compliant mechanisms. ASME Journal of Mechanical Design, 2014, 136(5): 051010_1-9.
[23] M S Baker, L L Howell. On-chip actuation of an in-plane compliant bistable micromechanism. Journal of Microelectromechanical Systems, 2002, 11(5): 566-573.
[24] G B Hao. A framework of designing compliant mechanisms with nonlinear stiffness characteristics. Springer: Microsystem Technologies, 2018, 28(4): 1795-1802.
[25] L L Howell, S P Magleby, B M Olsen. Handbook of compliant mechanisms. New York: John Wiley & Sons, 2013.
[26] V Arakelian, S Ghazaryan. Improvement of balancing accuracy of robotic systems: application to leg orthosis for rehabilitation devices. Mechanism and Machine Theory, 2008, 43(5): 565-575.
[27] S K Agrawal, S K Banala, A Fattah, et al. Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2007, 15(3): 410-420.
[28] A Kipnis, Y Belman. Constant Torque Range-of-motion Splint. US Patent, 5399154, 1995-03-21.
[29] C W Hou, C C Lan. Functional joint mechanisms with constant-torque outputs. Mechanism and Machine Theory, 2013, 62: 166-181.
[30] H N Prakashah, H Zhou. Synthesis of constant torque compliant mechanisms. ASME Journal of Mechanisms and Robotics, 2016, 8(6): 064503_1-8.
No related articles found!
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
京ICP备05060958号 中国机械工程学会版权所有,未经同意请勿转载
中国机械工程学会/北京市海淀区首体南路9号主语国际4号楼11层,邮编100048
0