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contributor authorPo-Yang Lin
date accessioned2017-05-09T00:53:27Z
date available2017-05-09T00:53:27Z
date copyrightMay, 2012
date issued2012
identifier issn1942-4302
identifier otherJMROA6-926064#021015_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/149887
description abstractThis paper proposes a general approach for designing spatial statically balanced mechanisms with articular joints utilizing ideal zero-free-length springs. The proposed statically balanced mechanism can counterbalance the gravitational forces and provides a perfect static equilibrium at any configuration. The method of the paper is based on the energy approach, and a generalized coordinate system is developed to define the configuration of a spatial mechanism and to be a vector basis for the derivation of potential energy. By incorporating the gravitational forces and the spring forces into the system, the stiffness matrix of a spring-loaded mechanism is proposed. The perfect static balance is observed when the stiffness matrix is a diagonal matrix, from which, the design equations can be readily obtained. The closed-form solution of spring design parameters of a statically balanced, spatial, three-articular arm is obtained as a design example. The simulations of the conceptual design are performed by commercial computer software, and the static equilibrium of a quasi-static continuous motion is verified.
publisherThe American Society of Mechanical Engineers (ASME)
titleDesign of Statically Balanced Spatial Mechanisms With Spring Suspensions
typeJournal Paper
journal volume4
journal issue2
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4006522
journal fristpage21015
identifier eissn1942-4310
keywordsPotential energy
keywordsDesign
keywordsSprings
keywordsMechanisms AND Equations
treeJournal of Mechanisms and Robotics:;2012:;volume( 004 ):;issue: 002
contenttypeFulltext


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