This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
A Planar Cable-Driven Mechanism as a New Variable Stiffness Element
Technical Paper
2007-01-2421
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Design and utilization of a planar cable-driven mechanism as a variable stiffness element is investigated for the purpose of the noise and vibration control. The components of the stiffness matrix of a cable-driven mechanism as well as the tensionability criterion and the effectiveness of the stiffness control through antagonistic force control are studied. Two designs of planar mechanisms with variable stiffness are proposed and different aspects of their stiffness are presented and compared. The results showed that the total stiffness of these two designs can be changed 57% and 26%, respectively which means it is possible to build an effective variable stiffness mechanism by controlling the antagonistic forces. The results were verified using a nonlinear simulation. Finally, the linearity is improved by introducing a dual mechanism design.
Recommended Content
Citation
Azadi, M. and Behzadipour, S., "A Planar Cable-Driven Mechanism as a New Variable Stiffness Element," SAE Technical Paper 2007-01-2421, 2007, https://doi.org/10.4271/2007-01-2421.Also In
References
- Ginder, J.M. Schlotter, W.F. Nichols, M.E. “Magnetorheological elastomers in tunable vibration absorbers,” Proceedings of SPIE - The International Society for Optical Engineering 4331 103 110 2001
- Ginder, J.M. Nichols, M.E. Elie, L.D. Tardiff, J.L. “Magnetorheological elastomers: Properties and applications,” Proceedings of SPIE - The International Society for Optical Engineering 3675 131 138 1999
- Davis, L.C. “Model of magnetorheological elastomers,” Journal of Applied Physics 85 6 3348 51 1999
- Shen, Y. Golnaraghi, M.F. Heppler, G.R. “Experimental research and modeling of magnetorheological elastomers,” Journal of Intelligent Intelligent Material Systems and Structures 15 1 27 35 2004
- Liang, C. Rogers, C.A. “Design of shape memory alloy springs with applications in vibration control,” Journal of Intelligent Material Systems and Structures 8 4 314 22 1997
- Williams, K. Chiu, G. Bernhard, R. “Adaptive-passive absorbers using shape-memory alloys,” Journal of Sound and Vibration 249 5 835 848 2002
- Rustighi, E. Brennan, M.J. Mace, B.R. “A shape memory alloy adaptive tuned vibration absorber: design and implementation Source,” Smart Materials and Structures 14 1 19 28 2005
- Williams, K.A. Chiu, G.T.-C. Bernhard, R.J. “Dynamic modelling of a shape memory alloy adaptive tuned vibration absorber,” Journal of Sound and Vibration 280 1-2 211 34 2005
- Davis, C.L. Lesieutre, G.A. “An actively tuned solid-state vibration absorber using capacitive shunting of piezoelectric stiffness,” Journal of Sound and Vibration 232 3 601 17 2000
- Jalili N. “A comparative study and analysis of semi-active vibration-control systems,” Journal of Vibration and Acoustics 124 4 593 605 Transactions of the ASME 2002
- Brennan, Michael J. “Some recent developments in adaptive tuned vibration absorbers/neutralizers,” Shock and Vibration 13 4-5 531 543 2006
- Walsh P. Lamancusa J. “A variable stiffness vibration absorber for minimization of transient vibrations,” Journal of Sound and Vibration 158 2 195 211 1992
- Sun J. Jolly M. Norris M. “Passive, adaptive and active tuned vibration absorbers-a survey,” 50th anniversary of the design engineering division, A Special Combined Issue of the Journal of Mechanical Design and the Journal of Vibration and Acoustics 117 3B 234 42 1995
- Winthrop, M.F. Baker, W.P. Cobb, R.G. “A variable stiffness device selection and design tool for lightly damped structures,” Journal of Sound and Vibration 287 4-5 667 82 2005
- Behzadipour, S. Khajepour, A. “Stiffness of cable-based parallel mechanisms with application to stability analysis,” Journal of Mechanical Design 128 1 Transactions of the ASME 303 310 2006
- Svinin, M. M. Ueda, K. Uchiyama, M. “On the Stability Condition of a Class of Parallel manipulators,” IEEE International Conference on Robotics and Automation 2386 2391 2000
- Svinin, M. M. Hosoe, S. Uchyiama, M. “On the Stiffness and Stability of Gough-Stewart Platforms,” IEEE International Conference on Robotics and Automation 3268 3273 2001
- Choi, H.R. Chung, W.K. Youm, Y. “Stiffness analysis and control of redundant mechanisms,” IEEE International Conference on Robotics and Automation 689 695 1994
- Cho, W. Tesar, D. Freeman, R.A. “The dynamic and stiffness modeling of general robotic mechanism systems with antagonistic actuation,” IEEE International Conference on Robotics and Automation (Cat. No.89CH2750-8) 1380 7 3 1989
- Yi, Byung-Ju Freeman, Robert A. “Geometric characteristics of antagonistic stiffness in redundantly actuated mechanisms,” IEEE International Conference on Robotics and Automation 2 654 661 1993
- Ming, A. Higuchi, T. “Study on Multiple Degree-of-Freedom Positioning Mechanism Using Wires _Part 1,” International journal of the Japan Society for Precision Engineering. Eng. 28 131 138 1994