Abstract
A prismatic compliant joint (PCJ) composed of a linear spring and a six-bar mechanism is proposed in this paper. The operating principle of the PCJ is discussed and its mathematical model is established. The main contribution of the proposed PCJ lies in its nonlinear stiffness capability achieved thanks to only passive mechanical elements. An optimal synthesis of the six-bar mechanism with nonlinear stiffness is presented. A genetic algorithm approach (GA) is used in order to explore and identify optimal design solutions. A CAD model and a first prototype of the PCJ are presented.
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Acknowledgments
This work is supported by the French National Research Agency, convention ANR-14-CE27-0016. This work is sponsored by the French government research program Investissements d’avenir through the Robotex Equipment of Excellence (ANR-10-EQPX-44).
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Ayoubi, Y., Laribi, M.A., Courrèges, F., Zeghloul, S., Arsicault, M. (2017). A Synthesis of a Six Bar Mechanism with Nonlinear Stiffness for Prismatic Compliant Joint. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_17
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DOI: https://doi.org/10.1007/978-3-319-49058-8_17
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