Statically balanced compliant mechanisms require no holding force throughout their range of motion while maintaining the advantages of compliant mechanisms. In this paper, a postbuckled fixed-guided beam is proposed to provide the negative stiffness to balance the positive stiffness of a compliant mechanism. To that end, a curve decomposition modeling method is presented to simplify the large deflection analysis. The modeling method facilitates parametric design insight and elucidates key points on the force–deflection curve. Experimental results validate the analysis. Furthermore, static balancing with fixed-guided beams is demonstrated for a rectilinear proof-of-concept prototype.
Issue Section:
Research Papers
References
1.
Stapel
, A.
, and Herder
, J.
, 2004, “Feasibility Study of a Fully Compliant Statically Balanced Laparoscopic Grasper
,” Proceedings of the 2004 ASME International Design Engineering Technical Conferences, Paper No. DETC2004-57242.2.
Herder
, J. L.
, and den Berg
, F. V.
, 2000, “Statically Balanced Compliant Mechanisms (SBCMS), an Example and Prospects
,” Proceedings of the 2000 ASME International Design Engineering Technical Conferences, Paper No. DETC2000/MECH-14144.3.
Hoetmer
, K.
, Woo
, G.
, Kim
, C.
, and Herder
, J.
, 2010, “Negative Stiffness Building Blocks for Statically Balanced Compliant Mechanisms: Design and Testing
,” J. Mech. Rob.
, 2
, 041007
.4.
Morsch
, F. M.
, and Herder
, J. L.
, 2010, “Design of a Generic Zero Stiffness Compliant Joint
,” Proceedings of the 2010 ASME International Design Engineering Technical Conferences.5.
Midha
, A.
, Murphy
, M. D.
, and Howell
, L. L.
, 1997, Compliant Constant-Force Mechanism and Devices Formed Therewith
, U.S. Patent No. 5,649,454, July 22.6.
Boyle
, C.
, Howell
, L. L.
, Magleby
, S. P.
, and Evans
, M. S.
, 2003, “Dynamic Modeling of Compliant Constant-Force Compression Mechanisms
,” Mech. Mach. Theory
, 38
(12
), pp. 1469
–1487
.7.
Tolou
, N.
, Gallego
, J. A.
, and Herder
, J. L.
, 2010, “Statically Balanced Compliant Micro Mechanisms (SB-MEMS): A Breakthrough in Precision Engineering
,” Mikroniek
, 50
(6
), pp. 20
–25
. Available at http://www.dspe.nl/files/mikroniek/Mikroniek_2010-6http://www.dspe.nl/files/mikroniek/Mikroniek_2010-68.
Chen
, Y.-H.
, and Lan
, C.-C.
, 2012, “An Adjustable Constant-Force Mechanism for Adaptive End-Effector Operations
,” J. Mech. Des.
, 134
(3
), 031005
.9.
Dijksman
, J.
, 1979, “A Study of Some Aspects of the Mechanical Behaviour of Cross-Spring Pivots and Plate Spring Mechanisms With Negative Stiffness
,” Ph.D. thesis, Delft University of Technology, Delft, The Netherlands.10.
Sonmez
, U.
, and Tutum
, C. C.
, 2008, “A Compliant Bistable Mechanism Design Incorporating Elastica Buckling Beam Theory and Pseudo-Rigid Body Model
,” J. Mech. Des.
, 130
(4
), 042304
.11.
Qiu
, J.
, Lang
, J.
, and Slocum
, A.
, 2004, “A Curved-Beam Bistable Mechanism
,” IEEE J. Microelectromech. Syst.
, 13
(2
), pp. 137
–146
.12.
Zhao
, J.
, Jia
, J.
, He
, X.
, and Wang
, H.
, 2008, “Post-Buckling and Snap-Through Behavior of Inclined Slender Beams
,” J. Appl. Mech.
, 75
(4
), 041020
.13.
Holst
, G.
, Teichert
, G.
, and Jensen
, B.
, 2011, “Modeling and Experiments of Buckling Modes and Deflection of Fixed-Guided Beams in Compliant Mechanism
,” J. Mech. Des.
, 133
(5
), 051002
.14.
Legtenberg
, R.
, Groeneveld
, A. W.
, and Elwenspoek
, M.
, 1996, “Comb-Drive Actuators for Large Displacements
,” Micromech. Microeng.
, 6
, 320329
.15.
Timoshenko
, S.
, 1961, Theory of Elastic Stability
, McGraw-Hill
, New York
.16.
Oliver
, W.
, and Pharr
, G.
, 1992, “An Improved Technique for Determining Hardness and Elastic-Modulus Using Load and Displacement Sensing Indentation Experiments
,” J. Mater. Res.
, 7
(6
), pp. 1564
–1583
.17.
Bobji
, M.
, and Biswas
, S.
, 1998, “Estimation of Hardness by Nanoindentation of Rough Surfaces
,” J. Mater. Res.
, 13
(11
), pp. 3227
–3233
.18.
Material properties of phosphor bronze 510. http://www.matweb.com/http://www.matweb.com/.
19.
Saha
, R.
, and Nix
, W.
, 2001, “Soft Films on Hard Substrates—Nanoindentation of Tungsten Films on Sapphire Substrates
,” Mater. Sci. Eng.
, 319
, pp. 898
–901
.Copyright © 2012
by American Society of Mechanical Engineers
You do not currently have access to this content.
