Gravity Balancing of Parallel Robots by Constant-Force Generators

Mottola, Giovanni; Cocconcelli, Marco; Rubini, Riccardo; Carricato, Marco

doi:10.1007/978-3-030-95750-6_9

Cited by 6 publications

(2 citation statements)

References 115 publications

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“…In addition, there are researchers who have utilized CFMs to attain constant torque [14] and gravity balancing [15]. Since the CFMs replace the complex control system with their mechanical characteristics, the compliant constant force mechanisms have garnered a lot of attention for the benefits they offer in terms of significantly reducing the difficulty and complexity of the conventional force feedback control system [16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Automatic Optimization for Compliant Constant Force Mechanisms

2023

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This paper presents an automatic optimization method for compliant constant force mechanisms, which eliminates the need for time-consuming parameter tuning and complex model design in the conventional design process. The proposed optimization framework is based on the finite-element analysis (FEA) and multi-objective genetic algorithm (MOGA) methods and is designed in two steps: First, the preliminary mechanism design is carried out to roughly encompass the specified constant force objective; then, the preliminary model is optimized by applying a MOGA based on FEA results. The optimized model can achieve the desired performance automatically while achieving a larger constant force stroke, which is verified by performing FEA simulations and experimental studies. The experimental results demonstrate that the designed CFMs increase the constant force stroke by 16.3% while achieving the specified design accuracy compared to the preliminary prototype.

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Section: Introductionmentioning

confidence: 99%

Automatic Optimization for Compliant Constant Force Mechanisms

2023

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“…Therefore, a quasi-zero stiffness (QZS) isolator with high static stiffness and low dynamic stiffness is required [17][18][19][20]. In addition, mechanisms with QZS characteristics also be applied to energy-free systems [21][22][23] or constant-force generators [24][25][26]. Tong et al [27] proposed a compliant constant force mechanism based on finite element analysis and a multi-objective genetic algorithm, which can be applied to compliant constantforce microgrippers.…”

Section: Introductionmentioning

confidence: 99%

Quasi-Zero Stiffness Isolator Suitable for Low-Frequency Vibration

et al. 2023

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This paper proposes a quasi-zero stiffness (QZS) isolator based on an inclined trapezoidal beam to explore its advantages in low-frequency passive vibration isolation. The nonlinear stiffness of the inclined trapezoidal beam due to the buckling effect is investigated through finite element simulation, and a linear positive stiffness spring is connected in parallel to form a QZS isolator with high-static and low-dynamic stiffness performance. The natural frequency of the isolator in the QZS region is simulated and analyzed, and the dynamic response of the QZS isolator under different damping ratios, excitation and load conditions is explored. The prototype of the QZS isolator was manufactured, and a static compression experiment was conducted to obtain its nonlinear stiffness. The dynamic experiment results verify the correctness of the simulation conclusions. The simulation and experimental data demonstrate that the QZS isolator has the characteristics of lower initial isolation frequency compared with the equivalent linear isolator. The proposed QZS isolator has an initial isolation frequency of 2.91 Hz and achieves a 90% isolation efficiency at 7.02 Hz. The proposed QZS isolator has great application prospects and can provide a reference for optimizing low-frequency or ultra-low-frequency isolators.

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A Novel Spatial 3-DoF Constant-Force Generator for the Static Balancing of Parallel Robots

Mottola,

Martini

2023

Mechanisms and Machine Science

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Gravity Balancing of Parallel Robots by Constant-Force Generators

Cited by 6 publications

References 115 publications

Automatic Optimization for Compliant Constant Force Mechanisms

Automatic Optimization for Compliant Constant Force Mechanisms

Quasi-Zero Stiffness Isolator Suitable for Low-Frequency Vibration

A Novel Spatial 3-DoF Constant-Force Generator for the Static Balancing of Parallel Robots

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