Increasing energy storage in compliant tape-spring mechanisms
J.M. Verzendaal (TU Delft - Mechanical Engineering)
Werner W.P.J. Van De Sande – Mentor (TU Delft - Mechatronic Systems Design)
DH Plettenburg – Mentor (TU Delft - Biomechatronics & Human-Machine Control)
JL Herder – Mentor (TU Delft - Precision and Microsystems Engineering)
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Abstract
This thesis studies the possibility of energy increase in tape-spring assemblies through stacking, defined as the practice of placing tape-springs on top of each other in parallel. consists of five chapters. Chapter 2 consists of a paper that presents a theoretical approach to stacking of tape-springs, and studies the potential of energy storage using analytical functions of tape-spring strain energy and deformation behaviour. The goal of this simplified approach is to understand the potential of energy increase through stacking, and subsequent material considerations, without taking practical considerations in account yet. This creates context for the next chapter, in which a more specific configuration is further worked out. Chapter 3 consists of a paper with a simulation and experimental approach on energy increase in tape-springs, considering a specific configuration of boundary conditions, comparable to an arm support system. The goal of this paper is to verify the energy storage increase for a practical implementation of a stack of tape-springs. The strain energy distribution in the material and the resulting force-deflection behaviour is studied in a finite element shell model in MATLAB. The force-deflection behaviour of a stack of two tape-springs is experimentally validated, and compared to the force-deflection behaviour of the individual tape-springs. Chapter 4 contains the general discussion of the findings for both the theoretical, as well as for the simulation and experimental approach to the stacking of tape-springs. The main findings are highlighted in chapter 5. Some additional information on this thesis is added in the appendices.