Kinetostatic Nonlinear Stiffness Characteristics Generation Based on the Kinematic Limb-Singularity of the Crank-Slider Linkage with Springs
Employing the kinematic limb-singularities of the rigid-body mechanisms can synthesize new types of mechanisms with attached springs which have kinetostatic nonlinear stiffness characteristic.Based on the virtual work principle,the kinetostatic model of the crank-slider linkage with springs is established and the torque-position angle formula is obtained.The formula indicates that this new type of linkage with springs working around the kinematic limb-singularity can produce four kinetostatic nonlinear stiffness characteristics including bi-stable characteristic,local negative-stiffness characteristic,local zero-stiffness characteristic and positive-stiffness characteristic.The influences of parameters on the nonlinear stiffness characteristics are explored and the transforming principle among these nonlinear stiffness characteristics is revealed.By the construction of zero-stiffness characteristic and the determination of constant-torque region as an example,a general approach to creating corresponding nonlinear stiffness characteristic based on designing spring stiffness is interpreted.Further exploration shows that the mechanism may produce the tri-stable characteristic when the crank rotates within a whole turn for appropriate springs stiffness.The investigation result expands the application field of the kinematic singularities of mechanisms.The mechanisms'design idea with added springs can be used to type synthesis of compliant mechanisms with nonlinear stiffness characteristics.The research approach has important reference value for assigning stiffness of the compliant joints so as to obtain a predicted nonlinear stiffness characteristic.
kinematic singularity mechanism with springs kinetostatic model nonlinear stiffness
Bao-Kun Li Guang-Bo Hao
School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China School of Engineering,University College Cork,Cork T12K8AF,Ireland
国内会议
北京
英文
3-16
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）