Compliant constant-force linear-motion mechanism

Tolman, Kyler A.; Merriam, Ezekiel G.; Howell, Larry L.

doi:10.1016/j.mechmachtheory.2016.08.009

Cited by 75 publications

(26 citation statements)

References 32 publications

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“…1). Partially compliant mechanisms often bear large deflection widely applied in areas such as statically balanced mechanisms [38][39][40][41], constant-force mechanisms [42][43][44], and joint of robots [45]. Fully compliant mechanisms are usually manufactured in monolithic structures, which are widely applied in precision engineering with static and dynamic applications.…”

Section: Introductionmentioning

confidence: 99%

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Ling

Howell

Cao

et al. 2020

Applied Mechanics Reviews

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158

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Flexure-based compliant mechanisms are becoming increasingly promising in precision engineering, robotics, and other applications due to the excellent advantages of no friction, no backlash, no wear, and minimal requirement of assembly. Because compliant mechanisms have inherent coupling of kinematic-mechanical behaviors with large deflections and/or complex serial-parallel configurations, the kinetostatic and dynamic analyses are challenging in comparison to their rigid-body counterparts. To address these challenges, a variety of techniques have been reported in a growing stream of publications. This paper surveys and compares the conceptual ideas, key advances, and applicable scopes, and open problems of the state-of-the-art kinetostatic and dynamic modeling methods for compliant mechanisms in terms of small and large deflections. Future challenges are discussed and new opportunities for extended study are highlighted as well. The presented review provides a guide on how to select suitable modeling approaches for those engaged in the field of compliant mechanisms.

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Section: Introductionmentioning

confidence: 99%

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Ling

Howell

Cao

et al. 2020

Applied Mechanics Reviews

Self Cite

158

View full text Add to dashboard Cite

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“…Tolman proposed a fully flexible constant force mechanism with the initial angle parallel guiding mechanism. Using the finite element model and the experimental prototype test, the pseudo-rigid-body model of the mechanism was established and verified [6]. Liu introduces the design and control of a new passive flexible constant force fixture.…”

Section: Introductionmentioning

confidence: 99%

An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness

Wang

Zheng

et al. 2020

Mathematical Problems in Engineering

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This paper presents an output control for a manipulator by changing the spring stiffness. Through the modeling and analysis of the nonlinear stiffness characteristics of the crank-rocker mechanism, and using the zero stiffness domain search method to select the appropriate spring stiffness, using different spring stiffness to establish different mechanism models, the robot can finally control the output of ideal constant force, and at the same time, the analysis results are applied to the improved design of the tire grabbing manipulator. Through this method, the tire grabbing manipulator becomes a constant grabbing force mechanism, and the mechanism is transformed from a rigid-body mechanism to a pseudo-rigid-body mechanism. The accuracy and stability of the whole system are greatly improved. In this study, the method of adding spring to each joint of the linkage mechanism is applied to the improvement design of the linkage mechanism, and the four-bar constant force mechanism is designed for the first time, which expands the application field of the nonlinear stiffness characteristics of the linkage mechanism, and has great application value to the improvement design of the mechanical system with the linkage mechanism and the control of the output force.

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“…For instance, various control algorithms have been proposed in the literature [8,9]. To reduce the dependency on complex control algorithms and complicated parameter tuning processes, an alternative method based on constant-force mechanism (CFM) has been recently proposed from the viewpoint of mechanism design [10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis and Testing of a New Compliant Compound Constant-Force Mechanism

Zhang

Wang

2018

Actuators

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This paper presents the design and testing of a novel flexure-based compliant compound constant-force mechanism (CCFM). One uniqueness of the proposed mechanism lies in that it achieves both constant-force input and constant-force output, which is enabled by integrating two types of sub-mechanisms termed active and passive constant-force structures, respectively. Unlike conventional structures, the active constant-force structure allows the reduction on input force requirement and thus the enlargement of motion stroke provided that the maximum stress of the material is within allowable value. While the passive one offers a safe environmental interaction during the contact process. Analytical model of the proposed CCFM is derived which is verified by simulation study with finite element analysis (FEA). A prototype mechanism is fabricated by a 3D printer to demonstrate the performance of the proposed CCFM design. Experimental results reveal the effectiveness of the reported CCFM.

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Compliant constant-force linear-motion mechanism

Cited by 75 publications

References 32 publications

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness

Design, Analysis and Testing of a New Compliant Compound Constant-Force Mechanism

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