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 language | English (US) |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
Pages | 318-323 |
Number of pages | 6 |
Volume | 1 |
State | Published - 2003 |
Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: Sep 14 2003 → Sep 19 2003 |
Other
Other | 2003 IEEE International Conference on Robotics and Automation |
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Country/Territory | Taiwan, Province of China |
City | Taipei |
Period | 9/14/03 → 9/19/03 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering