Abstract
In a novel compliant parallel mechanism, a motor and spring are arranged in a parallel fashion and are connected to a movable lever arm. The motor pushes and pulls on one attachment point and the spring stores and releases energy at a second attachment point. In a non-obvious choice, we do not attach the output link to the commonly thought of end-effector, but to the third link in the planar, parallel mechanism. The new mechanism allows the transmission ratio of the motor to be a function of the output angle and the force applied at the spring. For example, if there are no loads on the spring, the overall gear ratio is lowered, and the output speed can be increased. Conversely, if there are loads on the spring, the overall gear ratio is increased, and the output torque can be increased.
| Original language | English (US) |
|---|---|
| Title of host publication | 38th Mechanisms and Robotics Conference |
| Publisher | American Society of Mechanical Engineers (ASME) |
| Volume | 5A |
| ISBN (Electronic) | 9780791846360 |
| DOIs | |
| State | Published - 2014 |
| Event | ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States Duration: Aug 17 2014 → Aug 20 2014 |
Other
| Other | ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 |
|---|---|
| Country | United States |
| City | Buffalo |
| Period | 8/17/14 → 8/20/14 |
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ASJC Scopus subject areas
- Modeling and Simulation
- Mechanical Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design
Cite this
Active compliant parallel mechanisms. / Holgate, Matthew; Sugar, Thomas.
38th Mechanisms and Robotics Conference. Vol. 5A American Society of Mechanical Engineers (ASME), 2014.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Active compliant parallel mechanisms
AU - Holgate, Matthew
AU - Sugar, Thomas
PY - 2014
Y1 - 2014
N2 - In a novel compliant parallel mechanism, a motor and spring are arranged in a parallel fashion and are connected to a movable lever arm. The motor pushes and pulls on one attachment point and the spring stores and releases energy at a second attachment point. In a non-obvious choice, we do not attach the output link to the commonly thought of end-effector, but to the third link in the planar, parallel mechanism. The new mechanism allows the transmission ratio of the motor to be a function of the output angle and the force applied at the spring. For example, if there are no loads on the spring, the overall gear ratio is lowered, and the output speed can be increased. Conversely, if there are loads on the spring, the overall gear ratio is increased, and the output torque can be increased.
AB - In a novel compliant parallel mechanism, a motor and spring are arranged in a parallel fashion and are connected to a movable lever arm. The motor pushes and pulls on one attachment point and the spring stores and releases energy at a second attachment point. In a non-obvious choice, we do not attach the output link to the commonly thought of end-effector, but to the third link in the planar, parallel mechanism. The new mechanism allows the transmission ratio of the motor to be a function of the output angle and the force applied at the spring. For example, if there are no loads on the spring, the overall gear ratio is lowered, and the output speed can be increased. Conversely, if there are loads on the spring, the overall gear ratio is increased, and the output torque can be increased.
UR - http://www.scopus.com/inward/record.url?scp=84926049962&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84926049962&partnerID=8YFLogxK
U2 - 10.1115/DETC2014-35668
DO - 10.1115/DETC2014-35668
M3 - Conference contribution
AN - SCOPUS:84926049962
VL - 5A
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
ER -