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ASME Journal of Mechanisms and Robotics

  • Special Issue: Selected Papers From IDETC-CIE 2020
    by Ben-Tzvi P, Notash L, Voglewede P. on May 3, 2021 at 12:00 am

    This special issue of the ASME Journal of Mechanisms and Robotics is a compendium of 25 of the best papers submitted and presented at the 44th ASME Mechanisms and Robotics Conference during the 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2020).

Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only: A Case Study


This paper presents the static balancing design of a special reconfigurable linkage that can switch between two one-degree-of-freedom (DoF) working configurations. We will show that the studied dual-mode linkage only requires one mechanical spring or one counterweight for completely balancing its gravitational effect in theory at both modes. First, the theoretical models of the spring-based and the counterweight-based designs are derived. The proposed design concepts were then demonstrated by a numerical example and validated by software simulation. Experimental tests on both designs were also performed. The result of this study shows that a reconfigurable mechanism with N working configurations can be completely statically balanced by using less than N passive energy elements.
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