Unified Stiffness Modeling and Analysis of Compliant Crank-slider Mechanisms

  • Zhongyi LiEmail author
  • Shaoping Bai
  • Weihai Chen
  • Jianbin Zhang
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


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.


Stiffness behavior compliant crank-slider mechanism unified stiffness model 


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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).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Zhongyi Li
    • 1
    Email author
  • Shaoping Bai
    • 1
  • Weihai Chen
    • 2
  • Jianbin Zhang
    • 2
  1. 1.Department of Materials and ProductionAalborg UniversityAalborgDenmark
  2. 2.Beihang UniversityBeijingChina

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