In this paper a novel alternative method of stiffness compensation in buckled mechanisms is investigated. This method involves the use of critical load matching, i.e. matching the first two buckling loads of a mechanism. An analytical simply supported four-bar linkage model consisting of three rigid links and four torsion springs in the joints is proposed for the analysis of this method. It is found that the first two buckling loads are exactly equal when the two outer springs are three times stiffer than the two inner springs. The force-deflection characteristic of this linkage architecture showed statically balanced behavior in both symmetric and asymmetric actuation. Using modal analysis, it was shown that the sum of the decomposed strain energy per buckling mode is constant throughout the motion range for this architecture. An equivalent lumped-compliant four-bar mechanism is designed; finite element and experimental analysis showed near zero actuation forces, verifying that critical load matching may be used to achieve significant stiffness compensation in buckled mechanisms.

In this paper, a novel method for stiffness compensation in compliant mechanisms is investigated. This method involves tuning the ratio between the first two critical buckling loads. To this end, the relative length and width of flexures in two architectures, a stepped beam and parallel guidance, are adjusted. Using finite element analysis, it is shown that by maximizing this ratio, the actuation force for transversal deflection in post-buckling is reduced. These results were validated experimentally by identifying the optimal designs in a given space and capturing the force-deflection characteristics of these mechanisms.