Floating Displacement-Force Conversion Mechanism as a Robotic Mechanism

TL;DR

This paper introduces a novel mechanism that converts displacement into force with minimal operation effort by combining a linear spring with an inverse characteristic spring, enabling precise force control.

Contribution

It extends the concept of magnetic force balancing to linear systems, proposing a new mechanism for low-force displacement-to-force conversion using series-connected springs.

Findings

Prototype successfully demonstrated force control with small operation force

The mechanism achieves near-zero operation force in force generation

Experimental results confirmed theoretical predictions

Abstract

To attach and detach permanent magnets with an operation force smaller than their attractive force, Internally-Balanced Magnetic Unit (IB Magnet) has been developed. The unit utilizes a nonlinear spring with an inverse characteristic of magnetic attraction to produce a balancing force for canceling the internal force applied on the magnet. This paper extends the concept of shifting the equilibrium point of a system with a small operation force to linear systems such as conventional springs. Aligning a linear system and its inverse characteristic spring in series enables a mechanism to convert displacement into force generated by a spring with theoretically zero operation force. To verify the proposed principle, the authors realized a prototype model of inverse characteristic linear spring with an uncircular pulley. Experiments showed that the generating force of a linear spring can be controlled by a small and steady operation force.