Academic literature on the topic 'Compliant mechanism'

For polishing friable complex transparent pieces surface, compliant mechanism is used on the polishing robot in this paper. Compliant mechanisms on the polishing robot are designed and installed. Polishing experiments are carried out without compliant mechanisms and with compliant mechanisms. The experiments results show that the robot can complete better polishing tasks with compliant mechanisms, through the wrist force sensor collecting the polishing force, and controlling the proper compression height of compliant devices.

A general inverse dynamic model which is applicable to closed-chain mechanisms with contact compliance is presented. This class of mechanism has relatively rigid members and joints, but experiences compliant interactions with objects and the environment; examples include walking machines operating on natural terrain, devices for grasping a compliant object, and wheeled mobile robots. Previous approaches for formulating inverse dynamic models of compliant mechanisms have been approximations or limited to simple configurations and open-chain mechanisms. Inverse dynamic equations for closed-chain mechanisms with contact compliance are shown to be solvable sets of differential/algebraic equtaions (DAEs) which assures that stable and accurate solutions can be calculated; relevant characteristics and solutions of DAE systems are discussed.

In this paper, we investigate power flow in compliant mechanisms that are employed in dynamic applications. More specifically, we identify various elements of the energy storage and transfer between the input, external load, and strain energy stored within the compliant transmission. The goal is to design compliant mechanisms for dynamic applications by exploiting the inherent energy storage capability of compliant mechanisms in the most effective manner. We present a detailed case study on a flapping mechanism, in which we compare the peak input power requirement in a rigid-body mechanism with attached springs versus a distributed compliant mechanism. Through this case study, we present two approaches: (1) generative-load exploitation and (2) reactance cancellation, to describe the role of stored elastic energy in reducing the peak input power requirement. We propose a compliant flapping mechanism and its evaluation using nonlinear transient analysis. The input power needed to drive the proposed compliant flapping mechanism is found to be 50% less than a rigid-link four-bar flapping mechanism without a spring, and 15% less than the one with a spring. This reduction of peak input power is primarily due to the exploitation of elasticity in compliant members. The results show that a compliant mechanism can be a better alternative to a rigid-body mechanism with attached springs.

Abstract. The purpose of this paper is to present new concepts for designing fully-compliant statically-balanced mechanisms without prestressing assembly. A statically-balanced compliant mechanism can ideally provide zero stiffness and energy free motion like a traditional rigid-body mechanism. These characteristics are important in design of compliant mechanisms where low actuation force, accurate force transmission or high-fidelity force feedback are primary concerns. Typically, static balancing of compliant mechanisms has been achieved by means of prestressing assembly. However, this can often lead to creep and stress relaxation arising in the flexible members. In this paper two concepts are presented which eliminate the need for prestressing assembly of compliant mechanisms: (1) a weight compensator which employs a constant-force compliant mechanism, (2) a near-zero-stiffness mechanism which combines two multistable mechanisms. In addition to the advantages provided by statically-balanced compliant mechanisms, two other notable features of these statically-balanced mechanisms are their ability to be monolithically fabricated and to return to their as-fabricated position without any disassembly when not in use.