An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions

In order to synthesize a human-friendly flexible machine with a simple structure, multi-directionally flexibly constrained revolute pair (MFCRP), which is a revolute pair with a flexible kinematic constraint in multiple directions, has been proposed as a novel type of a kinematic pair. However, sinc...

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Autores principales:	Naoto KIMURA, Nobuyuki IWATSUKI, Ikuma IKEDA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2021
Materias:	linkage kinematic pair higher pair non-linear stiffness passive compliance cam profile design Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/1ea31d0a5cf44da6915b66cbecc1065e
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spelling	oai:doaj.org-article:1ea31d0a5cf44da6915b66cbecc1065e2021-11-29T06:05:55ZAn extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions2187-974510.1299/mej.20-00446https://doaj.org/article/1ea31d0a5cf44da6915b66cbecc1065e2021-04-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/8/2/8_20-00446/_pdf/-char/enhttps://doaj.org/toc/2187-9745In order to synthesize a human-friendly flexible machine with a simple structure, multi-directionally flexibly constrained revolute pair (MFCRP), which is a revolute pair with a flexible kinematic constraint in multiple directions, has been proposed as a novel type of a kinematic pair. However, since the relative motion between two links of the MFCRP is limited to the one pattern, the concept of MFCRP is extended as a ”flexibly constrained pair” (FCP) and its design method to achieve the specified relative motion including translational motion is proposed. Firstly, a method to specify the relative motion between the links is proposed, where DOF between the links is divided into main-DOF and sub-DOF and the main relative motion is specified. Next, a design method of the flexible constraint to achieve the specified difference in stiffness between the main-DOF and sub-DOF is proposed, here linear springs are optimally arranged to reduce stiffness in main-DOF and the specified non-linear stiffness is implemented in sub-DOF by designing the contact surfaces between the links. Some examples of the FCPs including MFCRP are designed with the proposed design method as demonstration. Then, an example is prototyped and examined by some experiments to confirm validity of the proposed design method.Naoto KIMURANobuyuki IWATSUKIIkuma IKEDAThe Japan Society of Mechanical Engineersarticlelinkagekinematic pairhigher pairnon-linear stiffnesspassive compliancecam profile designMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 8, Iss 2, Pp 20-00446-20-00446 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	linkage kinematic pair higher pair non-linear stiffness passive compliance cam profile design Mechanical engineering and machinery TJ1-1570
spellingShingle	linkage kinematic pair higher pair non-linear stiffness passive compliance cam profile design Mechanical engineering and machinery TJ1-1570 Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions
description	In order to synthesize a human-friendly flexible machine with a simple structure, multi-directionally flexibly constrained revolute pair (MFCRP), which is a revolute pair with a flexible kinematic constraint in multiple directions, has been proposed as a novel type of a kinematic pair. However, since the relative motion between two links of the MFCRP is limited to the one pattern, the concept of MFCRP is extended as a ”flexibly constrained pair” (FCP) and its design method to achieve the specified relative motion including translational motion is proposed. Firstly, a method to specify the relative motion between the links is proposed, where DOF between the links is divided into main-DOF and sub-DOF and the main relative motion is specified. Next, a design method of the flexible constraint to achieve the specified difference in stiffness between the main-DOF and sub-DOF is proposed, here linear springs are optimally arranged to reduce stiffness in main-DOF and the specified non-linear stiffness is implemented in sub-DOF by designing the contact surfaces between the links. Some examples of the FCPs including MFCRP are designed with the proposed design method as demonstration. Then, an example is prototyped and examined by some experiments to confirm validity of the proposed design method.
format	article
author	Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA
author_facet	Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA
author_sort	Naoto KIMURA
title	An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions
title_short	An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions
title_full	An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions
title_fullStr	An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions
title_full_unstemmed	An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions
title_sort	extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions
publisher	The Japan Society of Mechanical Engineers
publishDate	2021
url	https://doaj.org/article/1ea31d0a5cf44da6915b66cbecc1065e
work_keys_str_mv	AT naotokimura anextendeddesignmethodofflexiblyconstrainedpairswithnonlinearstiffnessinmultipledirections AT nobuyukiiwatsuki anextendeddesignmethodofflexiblyconstrainedpairswithnonlinearstiffnessinmultipledirections AT ikumaikeda anextendeddesignmethodofflexiblyconstrainedpairswithnonlinearstiffnessinmultipledirections AT naotokimura extendeddesignmethodofflexiblyconstrainedpairswithnonlinearstiffnessinmultipledirections AT nobuyukiiwatsuki extendeddesignmethodofflexiblyconstrainedpairswithnonlinearstiffnessinmultipledirections AT ikumaikeda extendeddesignmethodofflexiblyconstrainedpairswithnonlinearstiffnessinmultipledirections
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An extended design method of flexibly-constrained pairs with non-linear stiffness in multiple directions

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