Computational Design of Statically Balanced Planar Spring Mechanisms
Takuto Takahashi, Jonas Zehnder, Hiroshi G. Okuno, Shigeki Sugano, Stelian Coros, Bernhard Thomaszewski
Abstract
Statically balanced spring mechanisms are used in many applications that support our daily lives. However, creating new designs is a challenging problem since the designer has to simultaneously determine the right number of springs, their connectivity, attachment points, and other parameters. We propose a novel optimization-driven approach for designing statically balanced mechanisms in an interactive, semi-automatic way. In particular, we describe an efficient method for design optimization based on the principle of constant potential energy, an automated sparsification method for spring topology design, and a null-space exploration scheme that enables user to navigate the local space of design alternatives. We demonstrate our design system on a set of simulation examples and several manufactured prototypes.
BibTeX
@inproceedings{ral2019_computationaldes,
title = {Computational Design of Statically Balanced Planar Spring Mechanisms},
author = {Takuto Takahashi and Jonas Zehnder and Hiroshi G. Okuno and Shigeki Sugano and Stelian Coros and Bernhard Thomaszewski},
booktitle = {RA-L 2019},
year = {2019}
}