Statically balancing a reconfigurable mechanism by using one passive energy element only: A case study

Authors

Chin Hsing Kuo, University of Wollongong
Vu Linh Nguyen, National Chin-Yi University of Technology
Daniel Robertson, Delft University of Technology
Lin Tien Chou, National Taiwan University of Science and Technology
Just L. Herder, Department of Precision and Microsystems Engineering, TU Delft

Publication Name

Journal of Mechanisms and Robotics

Abstract

This paper presents the static balancing design of a special reconfigurable linkage that can switch between two one-degree-of-freedom (DoF) working configurations. We will show that the studied dual-mode linkage only requires one mechanical spring or one counterweight for completely balancing its gravitational effect in theory at both modes. First, the theoretical models of the spring-based and the counterweight-based designs are derived. The proposed design concepts were then demonstrated by a numerical example and validated by software simulation. Experimental tests on both designs were also performed. The result of this study shows that a reconfigurable mechanism with N working configurations can be completely statically balanced by using less than N passive energy elements.

Open Access Status

This publication is not available as open access

Volume

13

Issue

4

Article Number

040904