Controllable Compliance Joint For Human Oriented Robots

2013 ◽  
Vol 43 (1) ◽  
pp. 47-60
Author(s):  
Mihail Tsveov ◽  
Dimitar Chakarov
Keyword(s):  
Numerical Experiments ◽  
Position Control ◽  
Joint Stiffness ◽  
Joint Motion ◽  
Compliance Control ◽  
Leaf Springs ◽  
Antagonistic Actuation

Abstract In the paper, different approaches for compliance control for human oriented robots are revealed. The approaches based on the non- antagonistic and antagonistic actuation are compared. In addition, an approach is investigated in this work for the compliance and the position control in the joint by means of antagonistic actuation. It is based on the capability of the joint with torsion leaf springs to adjust its stiffness. Models of joint stiffness are presented in this paper with antagonistic and non-antagonistic influence of the spring forces on the joint motion. The stiffness and the position control possibilities are investigated and the opportunity for their decoupling as well. Some results of numerical experiments are presented in the paper too.

KEMPER CuSn6

Alloy Digest ◽  
2018 ◽  
Vol 67 (6) ◽  
Keyword(s):  
Corrosion Resistance ◽  
Physical Properties ◽  
Tensile Properties ◽  
Copper Alloy ◽  
High Performance ◽  
Electronics Industry ◽  
Bend Strength ◽  
Leaf Springs ◽  
Machine Parts

Abstract Alloy CuSn6 (UNS C51900) is a high-performance copper alloy. Typical uses include components for the electronics industry such as connector springs, relays, leaf springs, and switches as well as machine parts. This datasheet provides information on composition, physical properties, hardness, tensile properties, and bend strength. It also includes information on corrosion resistance as well as forming and joining. Filing Code: Cu-873. Producer or source: Gebr. Kemper GmbH + Company KG Metallwerke.

Response of Composite Leaf Springs to Low Velocity Impact Loading

2014 ◽  
Vol 591 ◽  
pp. 47-50 ◽  
Author(s):  
S. Rajesh ◽  
G.B. Bhaskar
Keyword(s):  
Impact Test ◽  
Low Velocity Impact ◽  
Leaf Spring ◽  
Fiber Reinforced ◽  
Test Rig ◽  
Low Velocity ◽  
Velocity Impact ◽  
Fiber Reinforced Plastic ◽  
Leaf Springs ◽  
Reinforced Plastic

Leaf springs are the traditional suspension elements, occupying a vital position in the automobile industry. This paper deals us the replacement of existing steel leaf spring by composite leaf spring. The dimensions of existing middle steel leaf spring of commercial vehicle (Tata ace mini truck) were taken and fabricated using a specially designed die. Single leaf of the suspension springs, each made up composite with bidirectional carbon fiber reinforced plastic (CFRP), bidirectional glass fiber reinforced plastic (GFRP) and hybrid glass-carbon fiber reinforced plastic (G-CFRP), was fabricated by hand layup process. It is to be mentioned here that the cross sectional area of the composite spring same as the metallic spring. A low velocity impact test rig was fabricated in the laboratory with loading set up. The composite leaf springs were tested with the low velocity impact test rig. By using the low velocity impact test rig, the deflection due to various drop height were measured.

Unfolding a Curved Elastic Sheet

1981 ◽  
Vol 23 (5) ◽  
pp. 217-219 ◽  
Author(s):  
C.-Y. Wang
Keyword(s):  
Flat Plate ◽  
Numerical Integration ◽  
Flexural Rigidity ◽  
Elliptic Functions ◽  
Applied Force ◽  
Relative Importance ◽  
Dimensional Parameter ◽  
Elastic Sheet ◽  
Leaf Springs ◽  
Force Displacement

A curved elastic sheet is flattened on a rigid flat plate by vertical end forces. The problem is governed by a non-dimensional parameter, B, which signifies the relative importance of flexural rigidity to the applied force and the natural radius. The elastica equations are solved by elliptic functions, perturbation for small B, and numerical integration. Force-displacement characteristics and sheet configurations are found. The results may be applied to sandwiched leaf springs.

Effect of End Rubber Gasket on the Performance of Parabolic Leaf Spring

2020 ◽  
Author(s):  
Junhong Zhang ◽  
Feiqi Long ◽  
Hongjie Jia ◽  
Jiewei Lin
Keyword(s):  
Ride Comfort ◽  
Orthogonal Experiment ◽  
Element Model ◽  
Considerable Effect ◽  
Leaf Spring ◽  
Static Stiffness ◽  
Rubber Gasket ◽  
Maximum Deformation ◽  
Leaf Springs ◽  
Parabolic Leaf Spring

Abstract Leaf springs play an important role in the handling stability and ride comfort of vehicle. End rubber gaskets are widely used to reduce the friction between leaves, but they also have considerable effect on the stiffness of the suspension assembly. The ride comfort may deteriorate with the stiffness of leaf spring changes. In this paper the influence of the end rubber gasket on the static stiffness performance of a parabolic leaf spring is studied. A finite element model of the leaf spring is developed and verified against the static stiffness test. Effects of the end rubber gasket parameters on the static stiffness of the leaf spring are analyzed based on an orthogonal experiment. The sensitivities of the five parameters are identified including the width, the length, the end thickness, the tail thickness and the distance to the end of the middle leaf. It is found that the contributions can be ranked in descending order as the tail thickness, the end thickness, the distance from end rubber gasket to the end of Leaf 2, and the width and length. The first two factors are considered of significant effects on the leaf spring stiffness. According to single-factor analysis, it is found that under the same load, as the tail thickness and the end thickness increase, the maximum deformation of the rubber gasket decreases, the stiffness of the rubber gasket increases, and the stiffness of the leaf spring increases, which provides a reference for the forward design of the end rubber gasket and the stiffness matching of leaf springs.

A flexure-based linear guide with torsion reinforcement structures

2021 ◽  
pp. 1-12
Author(s):  
Jelle Rommers ◽  
Mark Naves ◽  
Dannis Brouwer ◽  
Just L. Herder
Keyword(s):  
Mean Absolute Error ◽  
Theoretical Models ◽  
Absolute Error ◽  
Linear Guide ◽  
Leaf Springs ◽  
Motion Range ◽  
Volume Stress

Abstract In this work, a flexure-based (compliant) linear guide with a motion range comparable to its footprint is presented. The design consists of two folded leaf springs on which torsion reinforcement structures are added. Due to these structures, only two folded leaf springs are needed instead of a minimum of five as in pre-existing designs. The new design is compared to such a pre-existing design, after optimizing both on a support stiffness metric. The new design scores over twice as high on the support stiffness metric, while occupying a smaller (−33%) and a less obstructive build volume. Stress, build volume and manufacturing limitations are taken into account. Additionally, a variation on the new design using three torsion reinforced folded leaf springs is presented and optimized. This design occupies a build volume similar to the pre-existing design, but scores four times higher on the support stiffness metric. A prototype of the new design is built and its parasitic eigenfrequencies are measured, validating the theoretical models (Normalized Mean Absolute Error of 4.3%).

Leaf Springs, 1913

1913 ◽  
Author(s):  
Leavitt J. Lane
Keyword(s):  
Leaf Springs
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