NDLI: Synthesis of a non-circular cable spool to realize a nonlinear rotational spring

Content Provider	IEEE Xplore Digital Library
Author	Schmit, N. Okada, M.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8550, Japan (Schmit, N.; Okada, M.)
Abstract	In this paper we present a cable mechanism which realizes a nonlinear rotational spring from a linear translational spring. The spring is pulled by a cable wound around a non-circular spool, which is rigidly attached to the joint. The non-circular shape of the spool induces a nonlinear relationship between its angular position and the torque created by the tension of the cable. Depending on the shape of the spool, various torque profiles can be realized. We show that for a given nonlinear torque profile, there is a closed-form solution of the shape of the spool which synthesizes this function. In a first part, we present the geometry of the problem. In a second part, we derive the methodology to calculate the shape of the spool to synthesize a prescribed torque profile. In the last part, we verify the design methodology by experiments with three different spools realizing a constant force spring, an exponential softening spring and a cubic polynomial spring. We discuss the possible sources of errors between the theoretical and experimental results.
Starting Page	762
Ending Page	767
File Size	429213
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094545
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Springs Torque Mathematical model Equations Shape Mechanical cables Pulleys
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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