Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms

Deepak, Sangamesh R and Hansoge, Amrith N and Ananthasuresh, GK (2016) Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms. In: JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 8 (2).

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Abstract

There are analytical methods in the literature where a zero-free-length spring-loaded linkage is perfectly statically balanced by addition of more zero-free-length springs. This paper provides a general framework to extend these methods to flexure-based compliant mechanisms through (i) the well know small-length flexure model and (ii) approximation between torsional springs and zero-free-length springs. We use first-order truncated Taylor's series for the approximation between the torsional springs and zero-free-length springs so that the entire framework remains analytical, albeit approximate. Three examples are presented and the effectiveness of the framework is studied by means of finite-element analysis and a prototype. As much as 70% reduction in actuation effort is demonstrated. We also present another application of static balancing of a rigid-body linkage by treating a compliant mechanism as the spring load to a rigid-body linkage.

Item Type:	Journal Article
Publication:	JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
Publisher:	ASME
Additional Information:	Copy right for this article belongs to the ASME, TWO PARK AVE, NEW YORK, NY 10016-5990 USA
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	30 Jun 2016 05:14
Last Modified:	30 Jun 2016 05:14
URI:	http://eprints.iisc.ac.in/id/eprint/54100

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