On Generating Expected Kinetostatic Nonlinear Stiffness Characteristics by the Kinematic Limb-Singularity of a Crank-Slider Linkage with Springs

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 nonl...

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Bibliographic Details
Published in:Chinese journal of mechanical engineering 2019-12, Vol.32 (1), p.1-16, Article 54
Main Authors: Li, Baokun, Hao, Guangbo
Format: Article
Language:English
Subjects:
Electrical Machines and Networks
Electronics and Microelectronics
Engineering
Engineering Thermodynamics
Heat and Mass Transfer
Instrumentation
Kinematic singularity
Kinematics
Kinetostatic model
Machines
Manufacturing
Mechanical Engineering
Mechanism with springs
Nonlinear stiffness
Original Article
Position measurement
Power Electronics
Processes
Singularities
Stiffness
Theoretical and Applied Mechanics
Torque
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Summary: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.
ISSN:1000-9345
2192-8258
DOI:10.1186/s10033-019-0369-z