Abstract
Variable compliance mechanisms are considered as an effective way for interaction with changeable environments. Existing designs of variable compliance mechanisms can only change the amplitude of compliance rather than the orientation of compliance. In this paper, a novel hybrid mechanism is designed to realize changeable compliance orientation in a large range. The mechanical structure and working principle of the designed mechanism are firstly presented. Then, the closed-form relationship between compliance orientation and configuration of the designed mechanism is analyzed. Spherical coordinates are used to characterize and evaluate the orientation of compliance. Theoretical analysis shows that the orientation of compliance can be changed in a large range spatially. Finite element analysis is also performed to verify the theoretical model. It shows that the orientations of deformation during simulations are close to the theoretical compliance orientations. Under unchanged loading conditions, a large change in deformation orientation can be achieved by changing the mechanism’s configuration. This indicates that the designed mechanism can change the compliance orientation in a large range.
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Acknowledgements
This research was supported by the National key technologies R&D program of China (Grant No. 2018YFB1307800), the Guangdong Basic and Applied Basic Research Foundation (Grant Nos. 2021B1515020053, 2021A1515012418).
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Du, J., Zhang, X., Zhu, B., Li, H., Zhong, W. (2021). Design of a Variable Compliance Mechanism with Changeable Compliance Orientation. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_15
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DOI: https://doi.org/10.1007/978-3-030-89092-6_15
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