A Statically Balanced Compliant Ortho-Planar Mechanism for Low-Frequency Energy Harvesting

The usually high eigenfrequencies of miniaturized oscillators can be significantly lowered by reducing the stiffness through static balancing. In this work, a mechanical design for a statically balanced compliant ortho-planar mechanism is proposed. The mechanism was prototyped using laser micro-machining and subsequently preloaded through packaging. The statically balanced property of the mechanism was experimentally validated by a measurement of the force-deflection relation. A piezoelectric transducer was added and the resulting energy harvesting device was tested at low-frequency vibration of 2Hz. Compared to a reference device, an almost sixfold increase in performance was observed due to the static balancing. Therefore, it was found that the use of static balancing can improve the power output of piezoelectric energy harvesters for low-frequency vibrations.

Static Balancing Ability and Lower Body Kinematics Examination of Hungarian Folk Dancers: A Pilot Study Investigating the “Kalocsai Mars” Dance Sequence

Folk dance is a collection of traditional dances that requires years of practicing to perform correctly. The aim of the present study was to develop a complex biomechanical measurement procedure that investigated Hungarian folk dancers’ balancing ability and lower body kinematics through a dance movement called “Kalocsai mars”. Therefore, 11 dancers’ motion (5 female and 6 male; age: 20.5 ± 2.5 years; height: 173.82 ± 7.82 cm; weight: 64.77 ± 8.67 kg) was recorded with an optical-based motion capture system and force platforms simultaneously. Before and after the dancing session, static balancing tests were performed, examining bipedal stance with eyes opened and closed conditions. The ANOVA results showed that the values of the range of motions of the knee joint flexion-extension angles and hip flexion averaged for sessions increased significantly (p=0.044, p=0.003, p=0.005) during the dancing sessions. The deviation in the joint angle was greater in the nondominant legs, suggesting that the nondominant side requires more attention to execute the dance steps correctly. The results of the balance tests showed that the oscillation in the posterior direction increased significantly after dancing (p=0.023). In comparison, the visual feedback had no significant effect on the dancers’ balancing ability.

Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only—A Case Study

This paper presents the static balancing design of a special reconfigurable linkage that can switch between two one-degree-of-freedom (DoF) working configurations. We will show that the studied dual-mode linkage only requires one mechanical spring or one counterweight for completely balancing its gravitational effect in theory at both modes. First, the theoretical models of the spring-based and the counterweight-based designs are derived. The proposed design concepts were then demonstrated by a numerical example and validated by software simulation. Experimental tests on both designs were also performed. The result of this study shows that a reconfigurable mechanism with N working configurations can be completely statically balanced by using less than N passive energy elements.

Static Balancing of Four-Bar Compliant Mechanisms With Torsion Springs by Exerting Negative Stiffness Using Linear Spring At the Instant Center of Rotation

A design approach for the quasi-static balancing of four-bar linkages with torsion springs is proposed. Such an approach is useful in the design of quasi-statically balanced fully compliant mechanisms by tuning the stiffness of the pseudo-rigid-body-model. Here, the positive stiffness exhibited by torsion springs at the R-joints is compensated by a negative stiffness function. The negative stiffness is created by a non-zero-free-length linear spring connected between the coupler link and the ground, and where both connecting points trace a line directed to the coupler link’s instant center of rotation. A full example of the static balancing of two compliant linkages for approximate straight path generation is developed, where actuation energy of the compliant designs is reduced in 66% and 54%, respectively.

Relationships between the Rider’s Pelvic Mobility and Balance on a Gymnastic Ball with Equestrian Skills and Effects on Horse Welfare

Riders need core stability to follow and guide the horse’s movements and avoid giving unintended or conflicting signals. This study evaluated the rider’s performance of exercises on a gymnastic ball with on-horse performance and indicators of stress in the horse. Twenty experienced riders were scored performing three exercises on a gymnastic ball and for quality and harmony when riding based on evaluation of video recordings in which conflict behaviours were evident. The horse’s heart rate and number of conflict behaviors during the riding test and cortisol levels after completion of the test were measured. The rider’s ability to roll the pelvis from side-to-side on a gymnastic ball was highly correlated with ability to circle the pelvis on the ball and with quality and harmony during riding. However, pelvic roll and riding quality and harmony showed a trend toward a negative correlation with balancing skills on the ball. It appears that the ability to actively move the pelvis is more relevant to equestrian performance than static balancing skill. Horses ridden by riders with better pelvic mobility and control showed significantly fewer conflict behaviors. On the contrary, high scores for balancing on the gymnastic ball were negatively correlated with the horses’ working heart rates, suggesting a less energetic performance. Pelvic control and mobility may be predictive for equestrian skills and riding harmony.

RESEARCH CONCERNING THE STATIC BALANCING OF A MULTILOOP LINKAGE

In the paper a method for achieving the total static balancing of a linkage with two independent loops is presented. There are also analyzed two solutions for partial static balancing of the studied linkage. Finally, a series of results of the simulations performed in the studied balancing cases are given.

Compliant Mechanisms that use Static Balancing to Achieve Dramatically Different States of Stiffness

Stiffness in compliant mechanisms can be dramatically altered and even eliminated entirely by using static balancing. This requires elastic energy to be inserted before operation, which is most often done with an additional device or preloading assembly. Adding such devices contrasts starkly with primary motivations for using compliant mechanisms, such as part count reduction, increased precision and miniaturization. However, statically balanced compliant mechanisms with a fully monolithic architecture are scarce. In this paper we introduce two novel statically balanced compliant mechanisms with linear and rotary kinematics that do not require preloading assembly, enabling miniaturization. Static balance is achieved by the principle of opposing constant force and extended to a rotational device by using opposing constant torque mechanisms for the first time. A constant force mechanism based on existing work is used and inspired a novel constant torque mechanism. A single piece device is obtained by monolithically integrating a bistable switch for preloading, which allows static balance to be turned on and off. The linear device reduces stiffness by 98.5 % over 10 mm, has significantly reduced device complexity and doubled relative range of motion from 3.3 % to 6.6 % compared to the state of the art. The rotary device reduces stiffness by 90.5 % over 0.35 rad.