Compliant constant-force mechanism with a variable output for micro/macro applications

Dhiraj R. Nahar, Thomas Sugar

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

35 Scopus citations

Abstract

The relationship between input deflection and output force is fixed for constant-force mechanisms. An advantage of a constant-force mechanism is that the control effort is minimized. For example, in grasping applications, if the grasp force is understood and given, then the mechanism will apply the constant-force even if there are small deflections. A double-slider, variable, constant-force mechanism is developed in this paper. The force relationship is analyzed using the Virtual Work Principle. An active control law is used to generate a variable constant-force output. This paper also discusses the experimental validation of the force relationship using springs and also compliant plastic materials. This macro-level research is a step towards developing the technical capability to design micro constant-force mechanisms.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages318-323
Number of pages6
Volume1
StatePublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

Other

Other2003 IEEE International Conference on Robotics and Automation
Country/TerritoryTaiwan, Province of China
CityTaipei
Period9/14/039/19/03

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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