Design and Analysis of a Serial Position-Controlled Variable Stiffness Rotating Mechanism Based on Multi-Stage Torsional Compliant Mechanisms
This work presents the design and experimental validation of a position-controlled rotating mechanism featuring multi-stage variable stiffness. Before designing the overall mechanism, three different compliant mechanisms, based on flexible beams, are parametrically optimized using a SolidWorks–Ansys...
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MDPI AG
2025-05-01
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| author | Kai Wen Guanglei Wu |
| author_facet | Kai Wen Guanglei Wu |
| author_sort | Kai Wen |
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| description | This work presents the design and experimental validation of a position-controlled rotating mechanism featuring multi-stage variable stiffness. Before designing the overall mechanism, three different compliant mechanisms, based on flexible beams, are parametrically optimized using a SolidWorks–Ansys co-simulation technique. The flexible beams are composed of multiple straight segments, Bezier curves, and multiple arc segments. The corresponding torque–deflection curves of the compliant mechanisms are collected and fitted into analytical expressions, from which the stiffness equation varying with the angular position is derived for stiffness regulation. A combination of three-stage compliant mechanisms connected in serial is realized to prototype the physical mechanism, which can have three different stiffness ranges of the output shaft. The maximum stiffness is about nine times higher than the lowest one, leading to a broader bandwidth of varying stiffness, which can make the mechanism more adaptive to the external payloads for safety consideration. Experimental measurements are carried out, and the comparison shows a good agreement between the experimental and simulation results, which experimentally validated the design concept. The compact and simple structure, as well as the multi-stage variable stiffness ranges, implies high adaptability of the designed mechanism. |
| format | Article |
| id | doaj-art-6a234a886c3d4d81986af589ea85a1ca |
| institution | OA Journals |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-6a234a886c3d4d81986af589ea85a1ca2025-08-20T02:33:43ZengMDPI AGActuators2076-08252025-05-0114523610.3390/act14050236Design and Analysis of a Serial Position-Controlled Variable Stiffness Rotating Mechanism Based on Multi-Stage Torsional Compliant MechanismsKai Wen0Guanglei Wu1School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, ChinaSchool of Mechanical Engineering, Dalian University of Technology, Dalian 116024, ChinaThis work presents the design and experimental validation of a position-controlled rotating mechanism featuring multi-stage variable stiffness. Before designing the overall mechanism, three different compliant mechanisms, based on flexible beams, are parametrically optimized using a SolidWorks–Ansys co-simulation technique. The flexible beams are composed of multiple straight segments, Bezier curves, and multiple arc segments. The corresponding torque–deflection curves of the compliant mechanisms are collected and fitted into analytical expressions, from which the stiffness equation varying with the angular position is derived for stiffness regulation. A combination of three-stage compliant mechanisms connected in serial is realized to prototype the physical mechanism, which can have three different stiffness ranges of the output shaft. The maximum stiffness is about nine times higher than the lowest one, leading to a broader bandwidth of varying stiffness, which can make the mechanism more adaptive to the external payloads for safety consideration. Experimental measurements are carried out, and the comparison shows a good agreement between the experimental and simulation results, which experimentally validated the design concept. The compact and simple structure, as well as the multi-stage variable stiffness ranges, implies high adaptability of the designed mechanism.https://www.mdpi.com/2076-0825/14/5/236variable stiffness mechanismcompliant elementsco-simulationposition-controlled stiffness regulationparameter optimization |
| spellingShingle | Kai Wen Guanglei Wu Design and Analysis of a Serial Position-Controlled Variable Stiffness Rotating Mechanism Based on Multi-Stage Torsional Compliant Mechanisms Actuators variable stiffness mechanism compliant elements co-simulation position-controlled stiffness regulation parameter optimization |
| title | Design and Analysis of a Serial Position-Controlled Variable Stiffness Rotating Mechanism Based on Multi-Stage Torsional Compliant Mechanisms |
| title_full | Design and Analysis of a Serial Position-Controlled Variable Stiffness Rotating Mechanism Based on Multi-Stage Torsional Compliant Mechanisms |
| title_fullStr | Design and Analysis of a Serial Position-Controlled Variable Stiffness Rotating Mechanism Based on Multi-Stage Torsional Compliant Mechanisms |
| title_full_unstemmed | Design and Analysis of a Serial Position-Controlled Variable Stiffness Rotating Mechanism Based on Multi-Stage Torsional Compliant Mechanisms |
| title_short | Design and Analysis of a Serial Position-Controlled Variable Stiffness Rotating Mechanism Based on Multi-Stage Torsional Compliant Mechanisms |
| title_sort | design and analysis of a serial position controlled variable stiffness rotating mechanism based on multi stage torsional compliant mechanisms |
| topic | variable stiffness mechanism compliant elements co-simulation position-controlled stiffness regulation parameter optimization |
| url | https://www.mdpi.com/2076-0825/14/5/236 |
| work_keys_str_mv | AT kaiwen designandanalysisofaserialpositioncontrolledvariablestiffnessrotatingmechanismbasedonmultistagetorsionalcompliantmechanisms AT guangleiwu designandanalysisofaserialpositioncontrolledvariablestiffnessrotatingmechanismbasedonmultistagetorsionalcompliantmechanisms |