Optimum Design of Balancing Systems with Cylindrical Helical Extension Springs

Article Preview

Abstract:

The static balancing of the weight forces is necessary to any mechanical system which is not working in horizontal plane. The effect is the decrease (until to vanishing) of the acting power. From practical point of view two main ways of static balancing could be taken into consideration: by mass redistribution of components or/and by adding counterweights, and by elastic forces of the springs or of the gases. The first solution is not always possible due to the dimensions of mechanical systems and due to increasing of the dynamic stresses of components. Second solution is more and more used to various mechanical systems.The complexity of balancing systems with springs comes from the need of using zero-free length springs. In any case the mathematical model has not a unique solution. Present paper is an extension of a paper of first author [1] and is presenting a method to find the optimum solution of the simplest elastic system which is using a real helical extension spring with finite-free length. Design variables are the position of spring’s joints, as well as the constructional parameters of a extension spring. Finally some examples are presented.

You might also be interested in these eBooks

Info:

Periodical:

Pages:

232-241

Citation:

Online since:

October 2014

Export:

Price:

* - Corresponding Author

[1] L. Ciupitu, Optimum Design of Balancing Systems with Real Springs, In: Proceedings of 9th International Conference OPTIROB 2014, June 26-29 Mangalia, Romania, A. Olaru Ed., Trans Tech Publications, Switzerland, Applied Mechanics and Materials, doi: 10. 4028/www. scientific. net/AMM. 555. 593, Vol. 555 (2014).

DOI: 10.4028/www.scientific.net/amm.555.593

Google Scholar

[2] F. R. Tepper, and G. G. Lowen, General Theorems Concerning Full Force Balancing of Planar Linkages by Internal Mass Redistribution, Journal of Engineering for Industry, Vol. 94B, No. 3, August (1972) 789-796.

DOI: 10.1115/1.3428252

Google Scholar

[3] ** (KUKA GmbH), Industrial robots IR 160/60 and IR 601/60, Augsburg, Germany.

Google Scholar

[4] R. E. Grigsby, Auxiliary Counter Balance for Well Pump, U. S. Patent 4, 321, 837 (1982).

Google Scholar

[5] L. Yi, and T. Leinonen, Synthesis and Analysis of Stroke-Increasing and Force-Balancing Mechanisms for Rod Pumping Units, Journal of Energy Resources Technology, Vol. 124, Issue 1 (2002) 14-19.

DOI: 10.1115/1.1446071

Google Scholar

[6] L. Ciupitu, S., The Weight Forces Balancing of Industrial Robots Arms – PhD Thesis Extended Abstract, (PhD Thesis defended on October 1997) Politehnica, University of Bucharest, Romania, 56 pages, completed and added on October (2002).

Google Scholar

[7] H. Richter, Apparatus for Weight Balancing an Industrial Robot, U. S. Patent 4, 455, 120 (1984).

Google Scholar

[8] Maja Kolarski, M. Vukobratovic, and B. Borovac, Dynamic analysis of balanced robot mechanisms, Mechanism and Machine Theory, vol. 29, No. 3 (1994) 427-454.

DOI: 10.1016/0094-114x(94)90128-7

Google Scholar

[9] I. Simionescu, and L. Ciupitu, The Static Balancing of Industrial Robot Arms. Part I: Discrete Balancing, Mechanism and Machine Theory Journal, 35(9) (2000) 1287-1298.

DOI: 10.1016/s0094-114x(99)00067-1

Google Scholar

[10] G. Carwardine, Improvements in equiposing mechanism, UK Patent 404. 615 (1934).

Google Scholar

[11] T. Rahman, R. Ramanathan, R. Seliktar, W. Harwin, A Simple Technique to Passively Gravity Balance Articulated Mechanisms, Journal of Mechanical Design, vol. 117 (1995) 655-658.

DOI: 10.1115/1.2826738

Google Scholar

[12] S. D. Ponomariov, V. L. Biderman, C. K. Liharev, V. M. Makushin, N. N. Malinin, V. I. Feodosiev, Calculul de rezistenta in constructia de masini, Vol. I: Principii teoretice si metode experimentale. Calculele elementelor din bare ale constructiilor la sarcini statice (Strength Calculus in Machines Industry. Vol. I: Theory Principles and Experimental Methods), Editura Tehnica, Bucuresti, 1960. (in Romanian - translate from Russian).

Google Scholar

[13] J. M. Hervé, Device for Counter-Balancing the Forces Due to Gravity in a Robot Arm, United States Patent 4, 620, 829 (1986).

Google Scholar

[14] A. Agrawal and S. K. Agrawal, Design of gravity balancing leg orthosis using non-zero free length springs, Mechanism and Machine Theory, 40 (2005) 693-709.

DOI: 10.1016/j.mechmachtheory.2004.11.002

Google Scholar

[15] I. Simionescu, and L. Ciupitu, Optimum Design of Balancing Systems for Industrial Robots, Proceedings of Annual Symposium of Solid Mechanics Institute from Romanian Academy: SISOM '95, Bucharest, Romania, November 22-23 (1995) 259-262.

Google Scholar

[16] L. Ciupitu, S. Toyama, and E. Purwanto, Robotic Arm with 9 DOF Driven by 3 Spherical Ultrasonic Motors. In: IFAC volume with the Proceedings of the Workshop Intelligent Assembly and Disassembly IAD'2003, Elsevier, Oxford, ISBN 0 08 044065 7 (2003).

DOI: 10.1016/s1474-6670(17)37666-8

Google Scholar

[17] ** (Century Spring), http: /www. centuryspring. com/pdfs/229-288EXTENSION. pdf.

Google Scholar

[18] S. Timoshenko and D. H. Young, Elements of Strength of Materials, 5-th edition, Maruzen Asian Ed., Dvan Nostrand Company Inc., Maruzen Company Ltd., (1968).

Google Scholar

[19] D. D. Boiangiu, C. Constantinescu, L. Saveanu, Arcuri (Springs), Editura Tehnica, (1958).

Google Scholar

[20] D. D. Boiangiu, Gh. Paizi, N. Enescu, Elementele elastice ale masinilor (Elastic elements of machines), Editura Tehnica, 1967. (In Romanian).

Google Scholar

[21] K. Watanabe, H. Yamamoto, Y. Ito, H. Isobe, Simplified Stress calculation Method for Helical Spring, Japan Society of Spring Engineers, 9 pages (2007).

Google Scholar

[22] Gh. Buzdugan, Rezistenta materialelor (Strength of Materials), Editura Academiei RSR, 1986. (In Romanian).

Google Scholar

[23] A. M. Wahl, Mechanical springs, Penton Publishing House, Cleveland, Ohio, U.S.A., (1944).

Google Scholar

[24] A. M. Wahl, Heavy Closely Coiled Helical Springs, Trans. ASME, Vol. 51 (1929) paper No. APM-51-17.

Google Scholar