Harnessing elastic energy to overcome singularity issues in four-bar mechanisms with a crank link

van den Doel, Gregor J.; Herder, J.L.; Farhadi Machekposhti, D.

doi:10.1016/j.mechmachtheory.2023.105274

Harnessing elastic energy to overcome singularity issues in four-bar mechanisms with a crank link

Title

Harnessing elastic energy to overcome singularity issues in four-bar mechanisms with a crank link

Author

van den Doel, Gregor J.
Herder, J.L. (TU Delft Precision and Microsystems Engineering)
Farhadi Machekposhti, D. (TU Delft Mechatronic Systems Design)

Department

Precision and Microsystems Engineering

Date

2023

Abstract

The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the elastic potential energy of a linear spring attached to the coupler link of four-bar mechanisms to manipulate force transmission around the kinematic singularities. We developed a theoretical model to explore the parameter space for proper force transmission in slider-crank and rocker-crank four-bar kinematics. Finally, we verified the proposed model and methodology by building and testing a macro-scale prototype of a slider-crank mechanism. We expect this approach to enable the development of small-scale rotary engines and robotic devices with closed kinematic chains dealing with serial kinematic singularities, such as linkages and parallel manipulators.

Subject

Elastic potential energy
Four-bar linkages
Kinematic singularity
Mechanisms

To reference this document use:

http://resolver.tudelft.nl/uuid:a0585594-1aa8-4a76-976f-f2d06c8eb5b8

DOI

https://doi.org/10.1016/j.mechmachtheory.2023.105274

ISSN

0094-114X

Source

Mechanism and Machine Theory, 183

Part of collection

Institutional Repository