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Large deformation analysis and synthesis of elastic closed-loop mechanism made of a certain spring wire described by free curves

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Abstract

Recently novel mechanisms with compact size and without many mechanical elements such as bearing are strongly required for medical devices such as surgical operation devices. This paper describes analysis and synthesis of elastic link mechanisms of a single spring beam which can be manufactured by NC coiling machines. These mechanisms are expected as disposable micro forceps. Smooth Curvature Model(SCM) with 3rd order Legendre polynomial curvature functions is applied to calculate large deformation of a curved cantilever beam by taking account of the balance between external and internal elastic forces and moments. SCM is then extended to analyze large deformation of a closed-loop curved elastic beam which is composed of multiple free curved beams. A closed-loop elastic link is divided into two free curved cantilever beams each of which is assumed as serially connected free curved cantilever beams described with SCM. The sets of coefficients of Legendre polynomials of SCM in all free curved cantilever beams are determined by taking account of the force and moment balance at connecting point where external input force is applied. The sets of coefficients of Legendre polynomials of a nonleaded closed-loop elastic link are optimized to design a link mechanism which can generate specified output motion due to input force applied at the assumed dividing point. For example, two planar micro grippers with a single pulling input force are analyzed and designed. The elastic deformation analyzed with proposed method agrees very well with that calculated with FEM. The designed micro gripper can generate the desired pinching motion. The proposed method can contribute to design compact and simple elastic mechanisms without high calculation costs.

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Authors and Affiliations

  1. Department of Mechanical Sciences and Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Tokyo, 152-8552, Japan

    Nobuyuki Iwatsuki & Takashi Kosaki

Authors
  1. Nobuyuki Iwatsuki
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  2. Takashi Kosaki
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Corresponding author

Correspondence to Nobuyuki Iwatsuki.

Additional information

IWATSUKI Nobuyuki, born in 1959, is currently a professor at Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Japan. He received his degrees of bachelor, master and doctor of engineering on mechanical engineering from Tokyo Institute of Technology, Japan, in 1982, 1984 and 1987, respectively. His research interests include kinematics and dynamics of robotic mechanisms, micro actuators made of functional materials, silent engineering to suppress vibration and noise from mechanical structures, and intelligent laser speckle interferometry.

KOSAKI Takashi, born in 1999, He received his master degree on mechanical sciences and engineering at Tokyo Institute of Technology, Japan, in 2014. He has just started working in Kubota Corporation, Japan.

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Iwatsuki, N., Kosaki, T. Large deformation analysis and synthesis of elastic closed-loop mechanism made of a certain spring wire described by free curves. Chin. J. Mech. Eng. 28, 756–762 (2015). https://doi.org/10.3901/CJME.2015.0506.067

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  • DOI: https://doi.org/10.3901/CJME.2015.0506.067

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