In this contribution, we present a compliant constant force mechanism for guiding an object.
A straight elastic beam with a constant cross-section is connected to the object on one side. Its other side is fixed at a distance p from the object on a frame, forming an angle \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\alpha $$\end{document} to the frame. The appropriate setting of the variables p and \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\alpha $$\end{document} is to find, which guarantees that the object is guided with a constant force. The model was set up using differential equations within the Euler-Bernoulli beam theory for large deformations. We solved the equations using a combination of the Runge-Kutta method and the shot method. The variables p and \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\alpha $$\end{document} were optimized using the Matlab patternsearch algorithm. The deviation from the force operating point in the optimized setting is less than 3% within a movement range of 15% of the beam length. The results were verified using the finite element method (FEM), with the error between the presented model and the FEM being less than 2%.
The simplicity and cost-effectiveness of the presented compliant constant force mechanism make it applicable in various fields such as robotics, medical technology, and nanofabrication.
Compliant Constant Force Guiding Mechanism
Mechan. Machine Science
Conference on Microactuators and Micromechanisms ; 2024 ; Ho Chi Minh City, Vietnam November 09, 2024 - November 11, 2024
08.03.2025
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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