Ke Wu , Qidi Sun , Lifu Liu , Yifan Liu , Gang Zheng , Rui Chen
{"title":"利用任意预弯梁设计和优化顺应式恒扭矩机构","authors":"Ke Wu , Qidi Sun , Lifu Liu , Yifan Liu , Gang Zheng , Rui Chen","doi":"10.1016/j.mechmachtheory.2024.105803","DOIUrl":null,"url":null,"abstract":"<div><div>Compliant constant-torque mechanisms (CCTMs) have the potential to be used in precise manipulation and (force or torque) balance devices. In this paper, we propose two types of CCTMs utilizing varying-curvature beams. The stiffness-combination compliant constant-torque mechanisms (SC-CCTMs) are designed by combining positive-stiffness structures and negative-stiffness structures, whereas direct-zero-stiffness compliant constant-torque mechanisms (DZS-CCTMs) are designed by using zero-stiffness structures. In this paper, we develop a comprehensive methodology to analyze the mentioned CCTMs. Based on the methodology, a straight beam and a varying-curvature beam are optimized for negative stiffness and positive stiffness respectively to design SC-CCTMs. Besides, a constant-curvature beam is optimized for zero stiffness to design DZS-CCTMs. Then, the optimized SC-CCTM has the characteristic of adjustable constant-torque, and the optimized DZS-CCTM has a smaller preload range and a wider constant-torque range compared to existing results. Finally, the kinetostatic model has been verified using finite element method (FEM), with an error of less than 3% compared to FEM. The prototype of the optimized DZS-CCTM and SC-CCTM have been fabricated and tested to further verify the feasibility of the proposed design methodology.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"203 ","pages":"Article 105803"},"PeriodicalIF":4.5000,"publicationDate":"2024-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design and optimization of compliant constant-torque mechanisms utilizing arbitrary pre-curved beams\",\"authors\":\"Ke Wu , Qidi Sun , Lifu Liu , Yifan Liu , Gang Zheng , Rui Chen\",\"doi\":\"10.1016/j.mechmachtheory.2024.105803\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>Compliant constant-torque mechanisms (CCTMs) have the potential to be used in precise manipulation and (force or torque) balance devices. In this paper, we propose two types of CCTMs utilizing varying-curvature beams. The stiffness-combination compliant constant-torque mechanisms (SC-CCTMs) are designed by combining positive-stiffness structures and negative-stiffness structures, whereas direct-zero-stiffness compliant constant-torque mechanisms (DZS-CCTMs) are designed by using zero-stiffness structures. In this paper, we develop a comprehensive methodology to analyze the mentioned CCTMs. Based on the methodology, a straight beam and a varying-curvature beam are optimized for negative stiffness and positive stiffness respectively to design SC-CCTMs. Besides, a constant-curvature beam is optimized for zero stiffness to design DZS-CCTMs. Then, the optimized SC-CCTM has the characteristic of adjustable constant-torque, and the optimized DZS-CCTM has a smaller preload range and a wider constant-torque range compared to existing results. Finally, the kinetostatic model has been verified using finite element method (FEM), with an error of less than 3% compared to FEM. The prototype of the optimized DZS-CCTM and SC-CCTM have been fabricated and tested to further verify the feasibility of the proposed design methodology.</div></div>\",\"PeriodicalId\":49845,\"journal\":{\"name\":\"Mechanism and Machine Theory\",\"volume\":\"203 \",\"pages\":\"Article 105803\"},\"PeriodicalIF\":4.5000,\"publicationDate\":\"2024-10-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanism and Machine Theory\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0094114X24002301\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X24002301","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
Design and optimization of compliant constant-torque mechanisms utilizing arbitrary pre-curved beams
Compliant constant-torque mechanisms (CCTMs) have the potential to be used in precise manipulation and (force or torque) balance devices. In this paper, we propose two types of CCTMs utilizing varying-curvature beams. The stiffness-combination compliant constant-torque mechanisms (SC-CCTMs) are designed by combining positive-stiffness structures and negative-stiffness structures, whereas direct-zero-stiffness compliant constant-torque mechanisms (DZS-CCTMs) are designed by using zero-stiffness structures. In this paper, we develop a comprehensive methodology to analyze the mentioned CCTMs. Based on the methodology, a straight beam and a varying-curvature beam are optimized for negative stiffness and positive stiffness respectively to design SC-CCTMs. Besides, a constant-curvature beam is optimized for zero stiffness to design DZS-CCTMs. Then, the optimized SC-CCTM has the characteristic of adjustable constant-torque, and the optimized DZS-CCTM has a smaller preload range and a wider constant-torque range compared to existing results. Finally, the kinetostatic model has been verified using finite element method (FEM), with an error of less than 3% compared to FEM. The prototype of the optimized DZS-CCTM and SC-CCTM have been fabricated and tested to further verify the feasibility of the proposed design methodology.
期刊介绍:
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry