A machine with an internal variable-stiffness mechanism can adapt its output force to the working environment. In the literature, linear variable-stiffness mechanisms (LVSMs) are rarer than those producing rotary motion. This paper presents the design of a class of novel LVSMs. The idea is to parallel connect two lateral curved beams with an axial spring. Through preload adjustment of the curved beams, the output force-to-displacement curves can exhibit different stiffness. The merit of the proposed LVSMs is that very large-stiffness variation can be achieved in a compact space. The stiffness can even be tuned to zero by assigning the appropriate stiffness to the axial spring. LVSMs with pinned curved beams and fixed curved beams are investigated. To achieve the largest stiffness variation with sufficient linearity, the effects of various parameters on the force curves are discussed. Techniques to scale an LVSM and change the equilibrium position are introduced to increase the usefulness of the proposed design. Finally, the LVSMs are experimentally verified through prototypes.
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December 2014
Research-Article
Linear Variable-Stiffness Mechanisms Based on Preloaded Curved Beams
Yi-Syuan Wu,
Yi-Syuan Wu
Department of Mechanical Engineering,
e-mail: q331110@gmail.com
National Cheng Kung University
,No. 1, University Road
,Tainan City 701
, Taiwan
e-mail: q331110@gmail.com
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Chao-Chieh Lan
Chao-Chieh Lan
1
Department of Mechanical Engineering,
e-mail: cclan@mail.ncku.edu.tw
National Cheng Kung University
,No. 1, University Road
,Tainan City 701
, Taiwan
e-mail: cclan@mail.ncku.edu.tw
1Corresponding author.
Search for other works by this author on:
Yi-Syuan Wu
Department of Mechanical Engineering,
e-mail: q331110@gmail.com
National Cheng Kung University
,No. 1, University Road
,Tainan City 701
, Taiwan
e-mail: q331110@gmail.com
Chao-Chieh Lan
Department of Mechanical Engineering,
e-mail: cclan@mail.ncku.edu.tw
National Cheng Kung University
,No. 1, University Road
,Tainan City 701
, Taiwan
e-mail: cclan@mail.ncku.edu.tw
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received March 20, 2014; final manuscript received September 11, 2014; published online October 20, 2014. Assoc. Editor: Shorya Awtar.
J. Mech. Des. Dec 2014, 136(12): 122302 (10 pages)
Published Online: October 20, 2014
Article history
Received:
March 20, 2014
Revision Received:
September 11, 2014
Citation
Wu, Y., and Lan, C. (October 20, 2014). "Linear Variable-Stiffness Mechanisms Based on Preloaded Curved Beams." ASME. J. Mech. Des. December 2014; 136(12): 122302. https://doi.org/10.1115/1.4028705
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