Optimization of pantograph mechanisms for force generation

摘要

Pantograph mechanisms for force generation, called PMFG, are proposed. They are based on four-bar linkage mechanisms and are effective in saving energy, and simplifying and miniaturizing a total system of force generation. The static relationship between the motion and output force of the mechanism is analysed for optimization of the mechanical dimensions of the structure. For optimization of the pulley shapes, analytical and approximate methods are discussed. The experimental results show that eccentric non-circular pulleys are more effective than circular pulleys in producing an accurate force satisfying the required relations between the force and displacement of the mechanism. The mechanism is applicable to the realization of various kinds of force vs. displacement requirements.