Nonlinear Stiffness Analysis of Spring-Loaded Inverted Slider Crank Mechanisms With a Unified Model

被引：6
|
作者：
Li, Zhongyi [1 ]
Bai, Shaoping [1 ]
Chen, Weihai [2 ]
Zhang, Jianbin [3 ]
机构：
[1] Aalborg Univ, Dept Mat & Prod, DK-9220 Aalborg, Denmark
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[3] Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China
来源：
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2020年 / 12卷 / 03期
基金：
中国国家自然科学基金;
关键词：
stiffness analysis; inverted slider crank mechanism; constant torque mechanism; variable stiffness mechanism; actuators and transmissions; compliant mechanisms; multi-body dynamics and exoskeletons; COMPLIANT MECHANISMS; VARIABLE STIFFNESS; DESIGN; JOINT; ORTHOSIS;
D O I：
10.1115/1.4045649
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A mechanism with lumped-compliance can be constructed by mounting springs at joints of an inverted slider crank mechanism. Different mounting schemes bring change in the stiffness performance. In this paper, a unified stiffness model is developed for a comprehensive analysis of the stiffness performance for mechanisms constructed with different spring mounting schemes. With the model, stiffness behaviors of spring-loaded inverted slider crank mechanisms are analyzed. Influences of each individual spring on the overall performance are characterized. The unified stiffness model allows designing mechanisms for a desired stiffness performance, such as constant-torque mechanism and variable stiffness mechanism, both being illustrated with a design example and experiments.
引用
收藏
页数：11
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