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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Hoetmer, Karin Just, L. Herder Charles, J. Kim |
| Copyright Year | 2009 |
| Abstract | Particularly when high-fidelity force feedback is required, such as in surgical forceps, the energy loss between input and output in compliant mechanisms is undesired. To restore the force feedback, the principle of static balancing can be applied, where a balancing segment with a negative stiffness is added to a compliant mechanism. Currently there are no mature methods for the design of statically balanced compliant mechanisms (SBCM). The goal of this paper is to investigate the possibility of extending the Building Block Approach for the design of statically balanced compliant mechanisms. To this end, the Building Block Approach is extended with negative stiffness balancing building blocks that can be added to a designed compliant mechanism. To demonstrate the feasibility of the method, a statically balanced compliant gripper was designed by this Extended Building Block Approach. The maximum operating force of the unbalanced gripper of 3.5 N was reduced to −1 N for the balanced gripper. Thus, the gripper is slightly overbalanced. The gripper example demonstrates the functionality of the proposed method; the input-output stiffness of a compliant mechanism can be severely reduced by a balancing segment. |
| Sponsorship | Design Engineering Division and Computers in Engineering Division |
| Starting Page | 313 |
| Ending Page | 323 |
| Page Count | 11 |
| File Format | |
| ISBN | 9780791849040 |
| DOI | 10.1115/DETC2009-87451 |
| e-ISBN | 9780791838563 |
| Volume Number | Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2009-08-30 |
| Publisher Place | San Diego, California, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Compliant mechanism Negative stiffness Building block approach Static balancing Force feedback Blocks (building materials) Design Stiffness Compliant mechanisms |
| Content Type | Text |
| Resource Type | Article |
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