Abstract
The gravity compensation is used in linkage systems to minimize the effect of the gravitational torques to reduce the required actuator power. In this paper, a modified Chained-Pseudo-Rigid-Body model (CPRBM) based methodology is proposed to design irregular-shaped torsion springs for gravity compensation in linkage systems. The optimal design of an irregular-shaped torsion spring is obtained by minimizing the overall potential energy of the compliant mechanism system modeled by the modified CPRBM under a varying gravitational torque and employing the Genetic Algorithm(GA) optimization. A numerical example is given with the results compared with a Finite Element Method(FEM) simulation and a prototype experiment to verify the feasibility of the proposed method and show that the proposed method can generate an irregular-shaped torsion spring with relatively small errors.
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Shan, Z., Endo, M., Nakamura, H., Tanaka, S. (2023). Irregular-Shaped Torsion Spring Design for Gravity Compensation in Linkage Systems: A Modified CPRBM Based Methodology. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_27
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DOI: https://doi.org/10.1007/978-3-031-45705-0_27
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