Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-11-02 DOI:10.1115/1.4063980

Thanh-Vu Phan, Van Men Truong, Huy-Tuan Pham, Van-Khien Nguyen

引用次数: 0

Abstract

Abstract This study addressed the development of a novel compliant constant-torque mechanism (CCTM) that utilizes Bezier curved beams to provide a large stroke in the constant-torque operating range. Previous CCTMs are limited by their working stroke, which reduces their applicability. The proposed mechanism is based on an analytical model using the chained beam-constraint model (CBCM), which captures the kinetostatic behavior of flexible segments. A genetic algorithm based on the CBCM was used to obtain the optimal structure, which was then verified through finite element analysis and experimental results. The results show that the proposed CCTM provides good flatness with a deviation of 3.7% and a large stroke of 80° in the constant-torque working range, while maintaining compactness. This novel CCTM has the potential to provide a simple and effective solution for torque regulators in various applications

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基于链梁约束模型的新型大行程柔性恒转矩机构设计

摘要本研究旨在开发一种新型的柔性恒转矩机构(CCTM)，该机构利用贝塞尔曲线梁在恒转矩工作范围内提供大行程。以往的cctm受其工作行程的限制，降低了其适用性。所提出的机构是基于使用链梁约束模型(CBCM)的分析模型，该模型捕获了柔性段的动静力行为。采用基于CBCM的遗传算法得到了最优结构，并通过有限元分析和实验结果进行了验证。结果表明，在恒转矩工作范围内，CCTM具有良好的平整度，偏差为3.7%，行程可达80°，同时保持了紧凑性。这种新颖的CCTM有可能为各种应用中的转矩调节器提供简单有效的解决方案

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.