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Complaint constant force mechanism using variable stiffness leaf-spring-like beam: Design and experiment
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Abstract
This research provides a design for a complaint constant-force mechanism employing a leaf-spring-like beam with variable stiffness to address the negative stiffness stroke underutilization issue of the bistable beam. By designing the compression of the leaf-spring-like beam at each given displacement and the compression ramp slope, this technique allows the constant force mechanism to potentially take full utilization of the bistable beam's negative stiffness component. Innovative design of a complaint constant force mechanism based on positive and negative stiffness is shown in this study. In addition, we conduct simulation analysis and experimental verification. The experimental results illustrate the feasibility and effectiveness of the proposed method.
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Keywords:
- Compliant mechanism,
- constant force,
- bistable beam,
- manipulation,
- negative stiffness.
Mathematics Subject Classification: Primary: 58F15, 58F17; Secondary: 53C35.Citation: 
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Figure 1. Stress contour of bistable beam's deformation
Figure 2. Schematic diagram of establishing a coordinate system
Figure 3. The force analysis of beam
Figure 4. The bistable beam and its force
Figure 5. Schematic diagram of the spring-like beam
Figure 6. Force analysis on the spring-like beam
Figure 7. The model of the proposed constant force mechanism
Figure 8. Force-displacement curves before and after optimization. A: preload strok. B: constant force stroke. C: failure stroke
Figure 9. The experimental setup
Figure 10. Force-displacement experimental results. A: preload strok. B: constant force stroke. C: failure stroke
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References
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[5] C.-H. Liu, C.-H. Chiu, T.-L. Chen, T.-Y. Pai, M.-C. Hsu and Y. Chen, Topology optimization and prototype of a three-dimensional printed compliant finger for grasping vulnerable objects with size and shape variations, Journal of Mechanisms and Robotics, 10 (2018), 044502. doi: 10.1115/1.4039972.
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[9] D. R. Nahar and T. Sugar, Compliant constant-force mechanism with a variable output for micro/macro applications, 2003 IEEE International Conference on Robotics and Automation, 1 (2003), 318-323. doi: 10.1109/ROBOT.2003.1241615.
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[13] Y. Xie, D. Sun, H. Y. G. Tse, C. Liu and S. H. Cheng, Force sensing and manipulation strategy in robot-assisted microinjection on zebrafish embryos, IEEE/ASME Transactions on Mechatronics, 16 (2011), 1002-1010. doi: 10.1109/TMECH.2010.2068055.
[14] T. Ye, J. Ling, X. Kang, Z. Feng and X. Xiao, A novel two-stage constant force compliant microgripper, Journal of Mechanical Design, 143 (2021), 053302. doi: 10.1115/1.4048217.
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Figure 1.
Stress contour of bistable beam's deformation
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Figure 2.
Schematic diagram of establishing a coordinate system
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Figure 3.
The force analysis of beam
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Figure 4.
The bistable beam and its force
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Figure 5.
Schematic diagram of the spring-like beam
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Figure 6.
Force analysis on the spring-like beam
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Figure 7.
The model of the proposed constant force mechanism
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Figure 8.
Force-displacement curves before and after optimization. A: preload strok. B: constant force stroke. C: failure stroke
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Figure 9.
The experimental setup
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Figure 10.
Force-displacement experimental results. A: preload strok. B: constant force stroke. C: failure stroke