Abstract
A compliant crank-slider mechanism can be constructed by adding constant-stiffness springs at its joints. Different mounting of springs brings changes in the stiffness performance, which has been analyzed in separated case studies. In this paper, a unified stiffness model is developed for comprehensive analysis of the stiffness performance. With the model, four types of stiffness behaviors, namely hardening, softening, negative stiffness and zero stiffness behaviors, can be simulated with varying parameters. Using the model, stiffness behaviors of the mechanism are analyzed. A new approach constructing constant-torque mechanism is proposed with an example included.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ham, R.V., Vanderborght, B., et al.: MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: design and implementation in a biped robot. Robotics and Autonomous Systems, 55(10):761–768 (2007).
Zhou, L., Bai, S.: A new approach to design of a lightweight anthropomorphic arm for service applications. Journal of Mechanisms and Robotics, 7(3) 031001, (2015).
Christensen, S., Bai, S.: Kinematic analysis and design of a novel shoulder exoskeleton using a double parallelogram linkage. Journal of Mechanisms Robotics, 10(4) 041008, (2018).
Jessica, A., et al.: Control and evaluation of series elastic actuators with nonlinear rubber springs. In: IEEE/RSJ IROS 2015, pp.6563–6568 (2015).
Park, J.J., et al.: Safe joint mechanism based on nonlinear stiffness for safe human-robot collision. In: IEEE ICRA 2008, pp. 2177–2182 (2008).
Wu, T., et al.: Design of an exoskeleton for strengthening the upper limb muscle for overextension injury prevention. Mechanism and Machine Theory, 46(12):1825–1839 (2011).
Arakelian, V., et al.: Improvement of balancing accuracy of robotic systems: Application to leg orthosis for rehabilitation devices. Mechanism and Machine Theory, 43(5):565–575 (2008).
Liu, Z., et al.: Design, analysis, and experimental validation of an active constant-force system based on a low-stiffness mechanism. Mechanism and Machine Theory, 130:1–26 (2018).
Shaw, A.D., et al.: Dynamic analysis of high static low dynamic stiffness vibration isolation mounts. Journal of Sound and Vibration, 332(6):1437–1455 (2013).
Ibrahim, R.A., et al.: Recent advances in nonlinear passive vibration isolators. Journal of Sound and Vibration, 314(3):371–452 (2008).
Li, Z., et al.: A novel revolute joint of variable stiffness with reconfigurability. Mechanism and Machine Theory, 133:720–736 (2019).
Bacek, T., et al.: Design and evaluation of a torque-controllable knee joint actuator with adjustable series compliance and parallel elasticity. Mechanism and Machine Theory, 130:71–85 (2018).
Yang, Z., et al.: An adjustable gravity-balancing mechanism using planar extension and compression springs. Mechanism and Machine Theory, 92:314–329 (2015).
Hou, C., et al.: Functional joint mechanisms with constant-torque outputs. Mechanism and Machine Theory, 62:166–181 (2013).
Acknowledgment
The research is supported by Innovation Fund Denmark through Grands Solutions project Exo-aider. The first author acknowledges the CSC scholarship for his study at Aalborg University, Denmark. The third and fourth authors acknowledge the support of National Nature Science Foundation of China (Grant nos. 51675018 and 61773042).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Li, Z., Bai, S., Chen, W., Zhang, J. (2019). Unified Stiffness Modeling and Analysis of Compliant Crank-slider Mechanisms. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_129
Download citation
DOI: https://doi.org/10.1007/978-3-030-20131-9_129
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20130-2
Online ISBN: 978-3-030-20131-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)