Optimization of Mechanisms for Force Generation by Using Pulleys and Spring

Abstract

A link mechanism is proposed for force generation by using pulleys and springs (FGPS) based on a scissors structure having two arms, which are effective in energy saving, simpli fication, and miniaturization of a total system of force gener ation.

The relationship between the motion of the mechanism and its output force is analyzed for optimization of structure and dimensions. For optimization of pulley shapes, analyti cal and approximate methods are discussed. Experimental results show that eccentric noncircular pulleys are more effective than circular pulleys in producing a force sufficiently accurate to satisfy conditional relations between the force and the displacement of the mechanism. The mechanism is useful in fulfilling various kinds offorce versus displacement characteristics requirements.

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References

Chironis, N.P. 1966. Mechanisms, linkages, and mechanical controls . New York: McGraw-Hill .

Okada, T. 1984 August, Kyoto, Japan. Optimization of mechanisms for force generation by using pulleys and spring. Paper delivered at Int. Symp. Robotics Res.