Static Balance of a Flexure-Based Four-Bar Mechanism: Less Torque with More Preload

Jan J. de Jong; Ronald G.K.M. Aarts

doi:10.1007/978-3-031-04870-8_36

Static Balance of a Flexure-Based Four-Bar Mechanism: Less Torque with More Preload

Jan J. de Jong^*, Ronald G.K.M. Aarts

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

288 Downloads (Pure)

Abstract

Static balance eliminates the inherent actuation stiffness of flexure-based mechanisms. In this paper we investigate how, and under which conditions, preloading in the joints can approximately balance a flexure-based four-bar mechanism. We show that actuation reduction is possible when the preload leverages kinematic non-linearities of the system, resulting in a negative kinematic stiffness. The static balance conditions are formulated such that they can be solved using linear algebra and also permit kinematic insight. Application to a flexure-based Watt’s linkage shows a reduction factor of 500 in actuator torque.

Original language	English
Title of host publication	Advances in Service and Industrial Robotics - RAAD 2022
Subtitle of host publication	RAAD 2022
Editors	Andreas Müller, Mathias Brandstötter
Publisher	Springer
Pages	306-313
Number of pages	8
ISBN (Electronic)	978-3-031-04870-8
ISBN (Print)	978-3-031-04869-2
DOIs	https://doi.org/10.1007/978-3-031-04870-8_36
Publication status	Published - 23 Apr 2022
Event	31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022 - Klagenfurt, Austria Duration: 8 Jun 2022 → 10 Jun 2022 Conference number: 31 https://www.raad-conference.org/

Publication series

Name	Mechanisms and Machine Science
Publisher	Springer
Volume	120
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022
Abbreviated title	RAAD 2022
Country/Territory	Austria
City	Klagenfurt
Period	8/06/22 → 10/06/22
Internet address	https://www.raad-conference.org/

Keywords

Compliant mechanisms
Zero stiffness
Geometric non-linearities
22/2 OA procedure

Access to Document

10.1007/978-3-031-04870-8_36

Aarts2022staticFinal published version, 260 KBLicence: Taverne

Cite this

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title = "Static Balance of a Flexure-Based Four-Bar Mechanism: Less Torque with More Preload",

abstract = "Static balance eliminates the inherent actuation stiffness of flexure-based mechanisms. In this paper we investigate how, and under which conditions, preloading in the joints can approximately balance a flexure-based four-bar mechanism. We show that actuation reduction is possible when the preload leverages kinematic non-linearities of the system, resulting in a negative kinematic stiffness. The static balance conditions are formulated such that they can be solved using linear algebra and also permit kinematic insight. Application to a flexure-based Watt{\textquoteright}s linkage shows a reduction factor of 500 in actuator torque.",

keywords = "Compliant mechanisms, Zero stiffness, Geometric non-linearities, 22/2 OA procedure",

author = "{de Jong}, {Jan J.} and Aarts, {Ronald G.K.M.}",

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doi = "10.1007/978-3-031-04870-8_36",

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series = "Mechanisms and Machine Science",

publisher = "Springer",

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editor = "Andreas M{\"u}ller and Mathias Brandst{\"o}tter",

booktitle = "Advances in Service and Industrial Robotics - RAAD 2022",

address = "Germany",

note = "31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022, RAAD 2022 ; Conference date: 08-06-2022 Through 10-06-2022",

url = "https://www.raad-conference.org/",

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de Jong, JJ & Aarts, RGKM 2022, Static Balance of a Flexure-Based Four-Bar Mechanism: Less Torque with More Preload. in A Müller & M Brandstötter (eds), Advances in Service and Industrial Robotics - RAAD 2022: RAAD 2022. Mechanisms and Machine Science, vol. 120, Springer, pp. 306-313, 31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022, Klagenfurt, Austria, 8/06/22. https://doi.org/10.1007/978-3-031-04870-8_36

Static Balance of a Flexure-Based Four-Bar Mechanism: Less Torque with More Preload. / de Jong, Jan J.; Aarts, Ronald G.K.M.
Advances in Service and Industrial Robotics - RAAD 2022: RAAD 2022. ed. / Andreas Müller; Mathias Brandstötter. Springer, 2022. p. 306-313 (Mechanisms and Machine Science; Vol. 120).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Aarts, Ronald G.K.M.

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PY - 2022/4/23

Y1 - 2022/4/23

N2 - Static balance eliminates the inherent actuation stiffness of flexure-based mechanisms. In this paper we investigate how, and under which conditions, preloading in the joints can approximately balance a flexure-based four-bar mechanism. We show that actuation reduction is possible when the preload leverages kinematic non-linearities of the system, resulting in a negative kinematic stiffness. The static balance conditions are formulated such that they can be solved using linear algebra and also permit kinematic insight. Application to a flexure-based Watt’s linkage shows a reduction factor of 500 in actuator torque.

AB - Static balance eliminates the inherent actuation stiffness of flexure-based mechanisms. In this paper we investigate how, and under which conditions, preloading in the joints can approximately balance a flexure-based four-bar mechanism. We show that actuation reduction is possible when the preload leverages kinematic non-linearities of the system, resulting in a negative kinematic stiffness. The static balance conditions are formulated such that they can be solved using linear algebra and also permit kinematic insight. Application to a flexure-based Watt’s linkage shows a reduction factor of 500 in actuator torque.

KW - Compliant mechanisms

KW - Zero stiffness

KW - Geometric non-linearities

KW - 22/2 OA procedure

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DO - 10.1007/978-3-031-04870-8_36

M3 - Conference contribution

SN - 978-3-031-04869-2

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BT - Advances in Service and Industrial Robotics - RAAD 2022

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A2 - Brandstötter, Mathias

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Y2 - 8 June 2022 through 10 June 2022

ER -

Static Balance of a Flexure-Based Four-Bar Mechanism: Less Torque with More Preload

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Keywords

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