Abstract
In complex environments such as minimally invasive surgery, mine disaster and earthquake relief, compared with the traditional rigid mechanism, variable stiffness mechanism has tremendous advantages. In this paper, a novel controlled-stiffness mechanism based on flexure element and structural constraints is proposed. The mechanism is a parallel mechanism with two branches, one of which contains a flexure element. The stiffness control of the mechanism is realized by controlling the functional direction of the flexible element. Using the traditional Grubler-Kutzbach (G-K) formula to calculate the degree of freedom (DOF) of the mechanism is difficult. In this paper, a method of freedom and constraint topology (FACT) method is introduced. This method has the advantages of visualization, simplicity, rapidity and is suitable for the analysis of DOF and motion ability of complex mechanisms. The analysis results show that the structure can realize the desired form of motion.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Shan, W., Lu, T., Majidi, C.: Soft-matter composites with electrically tunable elastic rigidity. Smart Mater. Struct. 22(8), 085005 (2013)
Shan, W., Diller, S., Tutcuoglu, A., Majidi, C.: Rigidity-tuning conductive elastomer. Smart Mater. Struct. 24(6), 065001 (2015)
Lei, J., Yu, H., Wang, T.: Dynamic bending of bionic flexible body driven by pneumatic artificial muscles (PAMs) for spinning gait of quadruped robot. Chin. J. Mech. Eng. 29(1), 11–20 (2016)
Polygerios, P., Wang, Z., Galloway, K.C., et al.: Soft robotic glove for combined assistance and at-home rehabilitation. Robot. Auton. Syst. 73, 135–143 (2015)
Hannan, M.W., Walker, I.D.: Kinematics and the implementation of an elephant’s trunk manipulator and other continuum style robots. J. Robot. Syst. 20(2), 45–63 (2003)
Aukes, D.M., Heyneman, B., Ulmen, J., et al.: Design and testing of a selectively compliant underactuated hand. Int. J. Robot. Res. 33(5), 721–735 (2014)
Li, X., Chen, W., Lin, W., Low, K.H.: A variable stiffness robotic gripper based on structure-controlled principle. IEEE Trans. Autom. Sci. Eng. 15(3), 1104–1113 (2018)
Trease, B.P., Moon, Y.M., Kota, S.: Design of large-displacement compliant joint. J. Mech. ASME 127(4), 788–798 (2005)
Timoshenko, S.P.: History of Strength of Materials, vol. 452. Courier Dover Publications, New York (1983)
Hopkin, J.B., Culpepper, M.L.: Synthesis of multi-degree of freedom, parallel flexure system concepts via freedom and constraint topology (FACT), Part I: principles. Precis. Eng. 34(2), 259–270 (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Wu, K., Zhang, F., Zheng, M., Li, H., Sun, J. (2020). Design of a Controlled-Stiffness Flexure Mechanism Based on the FACT Method. In: Wang, D., Petuya, V., Chen, Y., Yu, S. (eds) Recent Advances in Mechanisms, Transmissions and Applications. MeTrApp 2019. Mechanisms and Machine Science, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-15-0142-5_35
Download citation
DOI: https://doi.org/10.1007/978-981-15-0142-5_35
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-0141-8
Online ISBN: 978-981-15-0142-5
eBook Packages: EngineeringEngineering (R0)