Authors: Amit Gupta; S.S. Rattan; Sudipto Mukherjee
Addresses: Department of Mechanical Engineering, GD Goenka World Institute/Lancaster University, Gurgaon, India ' Department of Mechanical Engineering, National Institute of Technology, Kurukshetra, Haryana, India ' Department of Mechanical Engineering, Indian Institute of Technology, Delhi, India
Abstract: A mathematical dynamic model is derived for the compliant-based slider crank chain mechanism. The compliant constant-force mechanism is a slider mechanism incorporating large-deflection beams, which outputs near-constant-force across the range of its designed deflection. The equation of motion is successfully validated with empirical data. The dynamic model is a cast for one of 28 possible configurations of compliant constant-force slider crank mechanism, identified by the type synthesis techniques. The author derived the dynamic model through Lagrange's equation for the selected configuration of compliant constant-force slider crank mechanism. An unexpected dynamic trait of the constant-force mechanism is discovered: There exists a range of frequencies for which the output force of the mechanism accords nearer to constant force than the output force at static levels.
Keywords: compliant joints; dynamic modelling; slider crank chain mechanism.
International Journal of Mechanisms and Robotic Systems, 2016 Vol.3 No.4, pp.317 - 332
Received: 25 Dec 2015
Accepted: 15 Apr 2016
Published online: 04 Jul 2017 *