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 proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)
139 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 languageEnglish
Title of host publicationAdvances in Service and Industrial Robotics - RAAD 2022
Subtitle of host publicationRAAD 2022
EditorsAndreas Müller, Mathias Brandstötter
PublisherSpringer
Pages306-313
Number of pages8
ISBN (Electronic)978-3-031-04870-8
ISBN (Print)978-3-031-04869-2
DOIs
Publication statusPublished - 23 Apr 2022
Event31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022 - Klagenfurt, Austria
Duration: 8 Jun 202210 Jun 2022
Conference number: 31
https://www.raad-conference.org/

Publication series

NameMechanisms and Machine Science
PublisherSpringer
Volume120
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022
Abbreviated titleRAAD 2022
Country/TerritoryAustria
CityKlagenfurt
Period8/06/2210/06/22
Internet address

Keywords

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

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