Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions

In order to synthesize a human-friendly flexible mechanism with a simple structure, a revolute pair with flexible kinematic constraint in multiple directions is proposed. It is called the multi-directionally flexibly constrained revolute pair (MFCRP). The structure of the MFCRP is composed of a link...

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Autores principales:	Naoto KIMURA, Nobuyuki IWATSUKI, Ikuma IKEDA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2020
Materias:	linkage kinematic pair higher pair non-linear stiffness passive compliance cam profile design underactuated mechanism Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/410184e7ec6c40bbb4e2a37cc5a409c9
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id	oai:doaj.org-article:410184e7ec6c40bbb4e2a37cc5a409c9
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spelling	oai:doaj.org-article:410184e7ec6c40bbb4e2a37cc5a409c92021-11-29T05:59:27ZDesign of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions2187-974510.1299/mej.20-00039https://doaj.org/article/410184e7ec6c40bbb4e2a37cc5a409c92020-06-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/7/4/7_20-00039/_pdf/-char/enhttps://doaj.org/toc/2187-9745In order to synthesize a human-friendly flexible mechanism with a simple structure, a revolute pair with flexible kinematic constraint in multiple directions is proposed. It is called the multi-directionally flexibly constrained revolute pair (MFCRP). The structure of the MFCRP is composed of a link with two same spherical surfaces and a link with two same cam surfaces, and each set of the cam surface and the spherical surface is in contact at a point. The connection between the two links is kept by two linear springs arranged between the two links. The MFCRP can generate 1-axial relative rotation between the two links and relative motions in the other directions are flexibly constrained. In order for the MFCRP to have both flexibility for safety and rigidity for the force transmission, the specified non-linear stiffness can be implemented in the two relative translational directions between the two links. This flexible translational constraint is generated by the spring forces and the reaction forces between the two links. In this paper, two methods to design the cam surfaces to implement the specified non-linear stiffness are proposed. The validity of the proposed design methodology is confirmed by comparing measured stiffness characteristics between two links of some prototypes with the theoretical characteristics. As an application, a flexible closed-loop linkage with the MFCRP is fabricated and its flexibility and kinematic performance are investigated through some experiments.Naoto KIMURANobuyuki IWATSUKIIkuma IKEDAThe Japan Society of Mechanical Engineersarticlelinkagekinematic pairhigher pairnon-linear stiffnesspassive compliancecam profile designunderactuated mechanismMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 7, Iss 4, Pp 20-00039-20-00039 (2020)
institution	DOAJ
collection	DOAJ
language	EN
topic	linkage kinematic pair higher pair non-linear stiffness passive compliance cam profile design underactuated mechanism Mechanical engineering and machinery TJ1-1570
spellingShingle	linkage kinematic pair higher pair non-linear stiffness passive compliance cam profile design underactuated mechanism Mechanical engineering and machinery TJ1-1570 Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions
description	In order to synthesize a human-friendly flexible mechanism with a simple structure, a revolute pair with flexible kinematic constraint in multiple directions is proposed. It is called the multi-directionally flexibly constrained revolute pair (MFCRP). The structure of the MFCRP is composed of a link with two same spherical surfaces and a link with two same cam surfaces, and each set of the cam surface and the spherical surface is in contact at a point. The connection between the two links is kept by two linear springs arranged between the two links. The MFCRP can generate 1-axial relative rotation between the two links and relative motions in the other directions are flexibly constrained. In order for the MFCRP to have both flexibility for safety and rigidity for the force transmission, the specified non-linear stiffness can be implemented in the two relative translational directions between the two links. This flexible translational constraint is generated by the spring forces and the reaction forces between the two links. In this paper, two methods to design the cam surfaces to implement the specified non-linear stiffness are proposed. The validity of the proposed design methodology is confirmed by comparing measured stiffness characteristics between two links of some prototypes with the theoretical characteristics. As an application, a flexible closed-loop linkage with the MFCRP is fabricated and its flexibility and kinematic performance are investigated through some experiments.
format	article
author	Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA
author_facet	Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA
author_sort	Naoto KIMURA
title	Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions
title_short	Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions
title_full	Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions
title_fullStr	Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions
title_full_unstemmed	Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions
title_sort	design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions
publisher	The Japan Society of Mechanical Engineers
publishDate	2020
url	https://doaj.org/article/410184e7ec6c40bbb4e2a37cc5a409c9
work_keys_str_mv	AT naotokimura designofaflexiblyconstrainedrevolutepairwithnonlinearstiffnessinmultipledirections AT nobuyukiiwatsuki designofaflexiblyconstrainedrevolutepairwithnonlinearstiffnessinmultipledirections AT ikumaikeda designofaflexiblyconstrainedrevolutepairwithnonlinearstiffnessinmultipledirections
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Design of a flexibly-constrained revolute pair with non-linear stiffness in multiple directions

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