Optimization of Mechanisms for Force Generation by Using Pulleys and Spring.

Abstract

A mechanism is described for achieving a desired force/motion relationship. The mechanism employs two hinged arms with pulleys and springs. In comparison to active force-control methods, the device is compact, energy saving, and robust. The device is ideally suited to miniature devices and, in a recent application, has been used in a mobile robot for inspecting pipes. The relationship between the motion of the mechanism and its output force is analyzed using both analytical and approximate techniques to determine the optimum configuration and the dimensions of the various components. In the final design, experimental results demonstrate the superiority of non-circular eccentric pulleys over conventional pulleys for producing a specified force/motion curve. Additional keywords: Robotics; Collapsible structures; Symmetric structures.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1985
Accession Number
ADA159944

Entities

People

  • T. Okada

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Collapsible Structures
  • Complex Systems
  • Coordinate Systems
  • Demographic Cohorts
  • Diameters
  • Displacement
  • Elastic Properties
  • Equations
  • Experimental Data
  • Fabrication
  • Optimization
  • Robotics
  • Robots
  • Shape
  • Simultaneous Equations
  • Two Dimensional

Readers

  • Electrical Engineering
  • Robotics and Automation.
  • Structural Health Monitoring of Composite Structures.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy