An adjustable gravity-balancing mechanism using planar extension and compression springs

Yang, Zong; Lan, Chao-Chieh

doi:10.1016/j.mechmachtheory.2015.05.006

Cited by 52 publications

(10 citation statements)

References 20 publications

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“…Zheng constructed high-static and low-dynamic-stiffness (HSLD) pillars with negative stiffness magnetic spring (NSMS), established a Stewart isolation platform model with high strength steel braces, and studied the stiffness characteristics of the isolation platform [10]. Zongwei Yang improved the weight balance mechanism by synthesizing the required nonlinear torque curve with two linear springs (one tension spring and one compression spring) [11]. Andò presented a low-cost vibration energy acquisition method based on the nonlinear stiffness design of springs [12].…”

Section: Introductionmentioning

confidence: 99%

An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness

Wang

Zheng

et al. 2020

Mathematical Problems in Engineering

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This paper presents an output control for a manipulator by changing the spring stiffness. Through the modeling and analysis of the nonlinear stiffness characteristics of the crank-rocker mechanism, and using the zero stiffness domain search method to select the appropriate spring stiffness, using different spring stiffness to establish different mechanism models, the robot can finally control the output of ideal constant force, and at the same time, the analysis results are applied to the improved design of the tire grabbing manipulator. Through this method, the tire grabbing manipulator becomes a constant grabbing force mechanism, and the mechanism is transformed from a rigid-body mechanism to a pseudo-rigid-body mechanism. The accuracy and stability of the whole system are greatly improved. In this study, the method of adding spring to each joint of the linkage mechanism is applied to the improvement design of the linkage mechanism, and the four-bar constant force mechanism is designed for the first time, which expands the application field of the nonlinear stiffness characteristics of the linkage mechanism, and has great application value to the improvement design of the mechanical system with the linkage mechanism and the control of the output force.

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Section: Introductionmentioning

confidence: 99%

An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness

Wang

Zheng

et al. 2020

Mathematical Problems in Engineering

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“…Limited movements of muscles affect their families and sociality. Although there are a lot of recent innovations, such as assistive devices, robotic rehabilitation systems, or exoskeletons to assist the upper limbs of disabled people [5][6][7], these devices had a large size and are of heavyweight [8]. Some researchers in the literature review focused on a design process and others investigated static and dynamic behaviors of the assistive devices [9].…”

Section: Introductionmentioning

confidence: 99%

Efficient Hybrid Method of FEA‐Based RSM and PSO Algorithm for Multi‐Objective Optimization Design for a Compliant Rotary Joint for Upper Limb Assistive Device

Chau

Dao

et al. 2019

Mathematical Problems in Engineering

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This paper proposes an efficient hybrid methodology for multi-objective optimization design of a compliant rotary joint (CRJ). A combination of the Taguchi method (TM), finite element analysis (FEA), the response surface method (RSM), and particle swarm optimization (PSO) algorithm is developed to solving the optimization problem. Firstly, the TM is applied to determine the number of numerical experiments. And then, 3D models of the CRJ is built for FEA simulation, and mathematical models are formed using the RSM. Subsequently, the suitability of the regression equation is assessed. At the same time, the calculation of weight factors is identified based on the series of statistical equations. Based on the well-established equations, a minimum mass and a maximum rotational angle are simultaneously optimized through the PSO algorithm. Analysis of variance is used to analyze the contribution of design variables. The behavior of the proposed method is compared to the adaptive elitist differential evolution and cuckoo search algorithm through the Wilcoxon signed rank test and Friedman test. The results determined the weight factors of the mass and rotational angle are about 0.4983 and 0.5017, respectively. The results found that the optimum the mass and rotational angle are 0.0368 grams and 59.1928 degrees, respectively. It revealed that the maximum stress of 335 MPa can guarantee a long working time. The results showed that the proposed hybrid method outperforms compared to other evolutionary algorithms. The predicted results are close to the validation results. The proposed method is useful for related engineering fields.

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“…The range of applications is very wide. Cylindrical compression springs can be found in connectors [1], pump turbines [2] and extension springs can be found in robotic systems [1][2][3], static balancing machines [4][5][6][7] and medical applications Mechanics and Industry 3 [8][9][10] among others. Most of the industrial software available to help designers, such as Advanced Spring Design from SMI [11] and Spring Calculator Professional from IST [12] or websites dedicated to spring design [13][14] exploit common analytical formulae from the reference book on spring design written several years ago by Wahl [15].…”

Section: Introductionmentioning

confidence: 99%

Enhanced formulae for determining the axial behavior of cylindrical extension springs

Paredes

Stephan²,

Orcière³

2019

Mechanics & Industry

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Mechanics and Industry 2 Cylindrical extension springs have been commonly exploited in mechanical systems for years and their behavior could be considered as well identified. Nevertheless, it appears that the influence of the loops on the global stiffness is not yet taken into account properly. Moreover, it would be of key interest to analyze how initial tension in extension springs influences the beginning of the load-length curve. The paper investigates these topics using analytical, simulation and experimental approaches in order to help engineers design extension springs with greater accuracy. As a result, the stiffness of the loops has been analytically defined. It enables to calculate the global stiffness of extension springs with more accuracy and it is now possible to determine the effective beginning of the linear load-length relation of extension springs and thus to enlarge the operating range commonly defined by standards. Moreover, until now manufacturers had to define by a try and error process the axial pitch of the body of extension springs in order to obtain the required initial tension. Our study enables for the first time to calculate quickly this key parameter saving time on the manufacturing process of extension springs. KeywordsExtension springs/spring design/springs/initial tension.

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An adjustable gravity-balancing mechanism using planar extension and compression springs

Cited by 52 publications

References 20 publications

An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness

An Output Force Control for Robotic Manipulator by Changing the Spring Stiffness

Efficient Hybrid Method of FEA‐Based RSM and PSO Algorithm for Multi‐Objective Optimization Design for a Compliant Rotary Joint for Upper Limb Assistive Device

Enhanced formulae for determining the axial behavior of cylindrical extension springs

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