Abstract

Force regulation is a big challenge when robot end-effector interacts with the unknown environment. To satisfy such requirement, kinds of constant-force mechanisms (CFMs) are designed. Compared with the active CFMs, the passive CFMs get rid of introducing complex sensors and advanced control algorithms. Chained beam-constraint model (CBCM) can be used to model the large deflection problems efficiently. Based on CBCM, this paper explores the buckling properties of flexure beam and then presents one kind of CFM. Such CFM obtains the constant-force output by utilizing the flexible fixed-guided beam, which undergoes its first buckling mode. Finite element analysis (FEA) and experiment are also given to prove the designed CFM.

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