Design of Constant-Force Compliant Sarrus Mechanism Considering Stiffness Nonlinearity of Compliant Joints

摘要

Constant-force compliant mechanisms could be useful in numerous applications. This paper presents a design of a constant-force compliant Sarrus mechanism utilizing cross-spring flexural pivots. As we all know, the stiffness of flexural pivots may exhibit significant nonlinearity when they undergo large deflection. Therefore, an empirical equation to capture the nonlinear stiffness of cross-spring flexural pivots is obtained. The empirical equation is then used to model CSMs. Based on the model, the design parameters of a constant-force CSM were obtained through a particle swarm optimizer.