On generating expected kinetostatic nonlinear stiffness characteristics by the kinematic limb-singularity of a crank-slider linkage with springs

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s10033-019-0369-z.pdf(3.58 MB)
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Date
2019-06-14
Authors
Li, Baokun
Hao, Guangbo
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Publisher
Springer Open
Published Version
10.1186/s10033-019-0369-z
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Abstract
Being different from avoidance of singularity of closed-loop linkages, this paper employs the kinematic singularity to construct compliant mechanisms with expected nonlinear stiffness characteristics to enrich the methods of compliant mechanisms synthesis. The theory for generating kinetostatic nonlinear stiffness characteristic by the kinematic limb-singularity of a crank-slider linkage is developed. Based on the principle of virtual work, the kinetostatic model of the crank-linkage with springs is established. The influences of spring stiffness on the toque-position angle relation are analyzed. It indicates that corresponding spring stiffness may generate one of four types of nonlinear stiffness characteristics including the bi-stable, local negative-stiffness, zero-stiffness or positive-stiffness when the mechanism works around the kinematic limb-singularity position. Thus the compliant mechanism with an expected stiffness characteristic can be constructed by employing the pseudo rigid-body model of the mechanism whose joints or links are replaced by corresponding flexures. Finally, a tri-symmetrical constant-torque compliant mechanism is fabricated, where the curve of torque-position angle is obtained by an experimental testing. The measurement indicates that the compliant mechanism can generate a nearly constant-torque zone.
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Keywords
Kinematic limb-singularity , Crank-slider linkage , Kinetostatic nonlinear stiffness
Citation
Li, B. and Hao, G., 2019. On Generating Expected Kinetostatic Nonlinear Stiffness Characteristics by the Kinematic Limb-Singularity of a Crank-Slider Linkage with Springs. Chinese Journal of Mechanical Engineering, 32(1), 54 (16 pp.) DOI:10.1186/s10033-019-0369-z
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https://cjme.springeropen.com/articles/10.1186/s10033-019-0369-z
URI
https://hdl.handle.net/10468/8906
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Electrical and Electronic Engineering - Journal Articles
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© The Author(s) 2019. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.