In some applications, nonconstant energy storage in the flexible segments of compliant mechanisms is undesired, particularly when high efficiency or high-fidelity force feedback is required. In these cases, the principle of static balancing can be applied, where a balancing segment with a negative stiffness is added to cancel the positive stiffness of the compliant mechanism. This paper presents a strategy for the design of statically balanced compliant mechanisms and validates it through the fabrication and testing of proof-of-concept prototypes. Three compliant mechanisms are statically balanced by the use of compressed plate springs. All three balanced mechanisms have approximately zero stiffness but suffer from a noticeable hysteresis loop and finite offset from zero force. Design considerations are given for the design and fabrication of statically balanced compliant mechanisms.
Negative Stiffness Building Blocks for Statically Balanced Compliant Mechanisms: Design and Testing
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Hoetmer, K., Woo, G., Kim, C., and Herder, J. (September 30, 2010). "Negative Stiffness Building Blocks for Statically Balanced Compliant Mechanisms: Design and Testing." ASME. J. Mechanisms Robotics. November 2010; 2(4): 041007. https://doi.org/10.1115/1.4002247
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