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Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle by Tori Shimizu; Kenjiro Tadakuma; Masahiro Watanabe; Eri Takane; Masashi Konyo; Satoshi Tadokoro is a Engineering article available to read on EtoBox.
What is Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle about?
The force required to drive a mechanism can be compensated by adding an equivalent load in the opposite direction. By reversing the input and output of the load compensation, we proposed the concept of a displacement-force converter that enables the deformation of the elastic element to be controlled steplessly by a minimal external force. Its principle was proved in our previous study, but challenges arose owing to the use of a wire and pulley. Here, we introduce a new compensation method using a noncircular cam that generates a compensation torque due to the contact force from the follower, which is split in the tangential direction of the cam by the pressure angle varying at rotation. Using a prototype for proof of concept, the maximum control force required for the extension of the spring was successfully reduced by 23.2%. Furthermore, uniform forces were obtained between extension and compression so that the difference between them decreased from 543% to 49% relative to compression. Thus, actuators and current supplies requiring less power could be selected. Moreover, the prototype model was incorporated into a variable stiffness mechanism of a soft robotic gripper as a wire t
Who reads Internally-Balanced Displacement-Force Converter for Stepless Control of Spring Deformation Compensated by Cam With Variable Pressure Angle?
It is typically read by researchers, students, and practitioners in Engineering.
- Author
- Tori Shimizu; Kenjiro Tadakuma; Masahiro Watanabe; Eri Takane; Masashi Konyo; Satoshi Tadokoro
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Published
- 2021
- Language
- EN
- Field
- Engineering (Physical Sciences)