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首页> 外文期刊>Journal of Mechanisms and Robotics: Transactions of the ASME >Negative Stiffness Building Blocks for Statically Balanced Compliant Mechanisms: Design and Testing
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Negative Stiffness Building Blocks for Statically Balanced Compliant Mechanisms: Design and Testing

机译：静态平衡柔顺机构的负刚度构建基块：设计和测试

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摘要

In some applications, nonconstant energy storage in the flexible segments of compliant mechanisms is undesired, particularly when high efficiency or high-fidelity force feedback is required. In these cases, the principle of static balancing can be applied, where a balancing segment with a negative stiffness is added to cancel the positive stiffness of the compliant mechanism. This paper presents a strategy for the design of statically balanced compliant mechanisms and validates it through the fabrication and testing of proof-of-concept prototypes. Three compliant mechanisms are statically balanced by the use of compressed plate springs. All three balanced mechanisms have approximately zero stiffness but suffer from a noticeable hysteresis loop and finite offset from zero force. Design considerations are given for the design and fabrication of statically balanced compliant mechanisms.
机译：在某些应用中，不希望在顺应性机构的柔性段中进行非恒定能量存储，特别是在需要高效或高保真力反馈的情况下。在这些情况下，可以应用静态平衡原理，其中添加具有负刚度的平衡段以抵消柔顺机构的正刚度。本文提出了一种静态平衡兼容机制的设计策略，并通过概念验证原型的制造和测试对其进行了验证。通过使用压缩板簧可以静态平衡三个柔顺机构。所有这三种平衡机构的刚度均约为零，但存在明显的磁滞回线和相对于零力的有限偏移。给出了设计和制造静态平衡柔顺机构的设计注意事项。

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