There are analytical methods in the literature where a zero-free-length spring-loaded linkage is perfectly statically balanced by addition of more zero-free-length springs. This paper provides a general framework to extend these methods to flexure-based compliant mechanisms through (i) the well know small-length flexure model and (ii) approximation between torsional springs and zero-free-length springs. We use first-order truncated Taylor's series for the approximation between the torsional springs and zero-free-length springs so that the entire framework remains analytical, albeit approximate. Three examples are presented and the effectiveness of the framework is studied by means of finite-element analysis and a prototype. As much as 70% reduction in actuation effort is demonstrated. We also present another application of static balancing of a rigid-body linkage by treating a compliant mechanism as the spring load to a rigid-body linkage.
Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms
Manuscript received January 4, 2015; final manuscript received July 21, 2015; published online November 24, 2015. Assoc. Editor: Larry L. Howell.
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Deepak, S. R., Hansoge, A. N., and Ananthasuresh, G. K. (November 24, 2015). "Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms." ASME. J. Mechanisms Robotics. April 2016; 8(2): 021005. https://doi.org/10.1115/1.4031192
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