2A1-I04 非円形のケーブル・スプールを用いた非線形な回転ばねの設計(ワイヤ駆動系の機構と制御)

概要

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In this paper we present a cable mechanism which realizes a nonlinear rotational spring from a linear translational spring. The spring is pulled by a cable wound around a non-circular spool rigidly attached to the joint. The non-circular shape of the spool induces a nonlinear relationship between its angular position and the torque created by the tension of the cable. Depending on the non-circular shape, various torque-angle relationships can be realized. We show that for a given nonlinear torque-angle relationship, there is a closed form solution of the spool which synthesizes this function. In a first part, we present the geometry of the problem then derive the methodology to calculate the shape of the spool to synthesize a prescribed torque-angle relationship. In a second part, we verify the design methodology by experiments with three different spools realizing a constant force spring, an exponential softening spring and a cubic polynomial spring.
一般社団法人日本機械学会の論文
2011-05-26