Abstract
Constant-force mechanisms can be used for gravity counterbalance and force regulation. While many constant-force mechanisms have been designed, most of them have a limited range of force adjustment, which brings very limited capability to maintain an equilibrium state when load changes. In this paper, a novel design of reconfigurable constant-force mechanism is proposed. The mechanism is designed from the concept of hinged-lever constant-force mechanism. Through adjusting the configuration parameter, a large adjustment range of the equilibrium state is achieved. Mathematical models are developed to simulate the equilibrium performance changed with configuration parameters. A prototype is constructed and validates the working principle of the novel design, demonstrated with a concept of assistive arm exoskeleton.
Originalsprog | Engelsk |
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Titel | Mechanism Design for Robotics. MEDER 2021 |
Antal sider | 10 |
Forlag | Springer |
Publikationsdato | 2021 |
Sider | 122-131 |
DOI | |
Status | Udgivet - 2021 |
Navn | Mechanisms and Machine Science |
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Vol/bind | 103 |
ISSN | 2211-0984 |
Bibliografisk note
Funding Information:Acknowledgments. The project is in part supported by Innovation Fund Denmark through Grand Solutions project EXO-AIDER. The first author acknowledges the financial support by Chongqing University for his visiting study at AAU.
Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.