Design and testing of a monolithic compliant constant force mechanism

Abstract

This paper reports the design of a monolithic long-stroke constant force compliant mechanism (CM). The device is suitable for applications requiring a predefined force magnitude at the contact interface, such as manipulation systems. Starting from a compliant slider-crank mechanism providing a constant force within a rather limited deflection range, the paper describes the shape optimization carried out with the aim of extending the CM available stroke. In the first design step, the pseudo-rigid body (PRB) method is used to synthesize a sub-optimal lumped compliance solution. Secondly, two improved beam-based alternatives are evaluated by means of an integrated software framework, comprising Matlab and ANSYS. These new embodiments make use of a variable thickness beam, whose shape and dimensions have been optimized so as to provide a constant reaction force in an extended range. In particular, straight and spline segments are respectively used for the first and second prototype. With reference to the lumped compliance configuration, the available stroke has been increased of amounts equalling to 467% in the straight segments version (namely, from 3 mm to 14 mm) and to 833% in the spline segments version (namely, from 3 mm to 25 mm). All the predicted behaviors have been validated via physical experiments on 3D printed specimens. The proposed multi-step design flow may also be applied to a large variety of CMs, starting from their PRB model.

Smart handheld medical device with patient-specific force regulation mechanism

“…Researchers have proposed different algorithms to generate compliant mechanisms automatically. These algorithms are based on topology optimization techniques (Saxena and Ananthasuresh, 2000; Tan et al , 2010), compliant beam shape optimization (Jutte and Kota, 2008; Hou and Lan, 2013) and beam section optimization (Bilancia and Berselli, 2020).…”

A disposable force regulation mechanism for throat swab robot

“…This study presents the design of a disposable mechanism to provide constant force, and it can be easily manufactured, assembled, sterilized and use. Different constant force mechanisms design methods have been proposed previously based on topological optimization specifically on the structure, beam shape, and beam thickness [4], [5], [6], [7]. In this study, the force regularization is achieved by a set of nonlinear springs which are designed through an optimization process consisting of Genetic Algorithm (GA) and Finite Element Simulation (FES) [8].…”