Optimization of Mechanisms for Force Generation by Using Pulleys and Spring.
CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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A mechanism is described for achieving a desired forcemotion relationship. The mechanism employs two hinged arms with pulleys and springs. In comparison to active force-control methods, the device is compact, energy saving, and robust. The device is ideally suited to miniature devices and, in a recent application, has been used in a mobile robot for inspecting pipes. The relationship between the motion of the mechanism and its output force is analyzed using both analytical and approximate techniques to determine the optimum configuration and the dimensions of the various components. In the final design, experimental results demonstrate the superiority of non-circular eccentric pulleys over conventional pulleys for producing a specified forcemotion curve. Additional keywords Robotics Collapsible structures Symmetric structures.
- Manufacturing and Industrial Engineering and Control of Production Systems