Active compliant parallel mechanisms

Matthew Holgate, Thomas Sugar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

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 languageEnglish (US)
Title of host publication38th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5A
ISBN (Electronic)9780791846360
DOIs
StatePublished - 2014
EventASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States
Duration: Aug 17 2014Aug 20 2014

Other

OtherASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
CountryUnited States
CityBuffalo
Period8/17/148/20/14

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Holgate, M., & Sugar, T. (2014). Active compliant parallel mechanisms. In 38th Mechanisms and Robotics Conference (Vol. 5A). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2014-35668