TY - JOUR
T1 - Computational Design of Statically Balanced Planar Spring Mechanisms
AU - Takahashi, Takuto
AU - Zehnder, Jonas
AU - Okuno, Hiroshi G.
AU - Sugano, Shigeki
AU - Coros, Stelian
AU - Thomaszewski, Bernhard
N1 - Funding Information:
The work of J. Zehnder was supported by a Google Excellence scholarship. The work of H. G. Okuno was supported by Kakenhi 19H00750.
Funding Information:
Manuscript received February 24, 2019; accepted June 30, 2019. Date of publication July 22, 2019; date of current version October 24, 2019. This letter was recommended for publication by Associate Editor C. Gosselin and Editor P. Rocco upon evaluation of the reviewers’ comments. The work of T. Takahashi was supported by the Graduate Program for Embodiment Informatics funded by JSPS at Waseda University. The work of J. Zehnder was supported by a Google Excellence scholarship. The work of H. G. Okuno was supported by Kakenhi 19H00750. The work of B. Thomaszewski was supported by the NSERC Discovery Grants and Discovery Accelerator Awards program. (Corresponding author: Takuto Takahashi.) T. Takahashi is with the Department of Modern Mechanical Engineering, Waseda University, Tokyo 169-8050, Japan, and also with the Department of Computer Science and Operations Research, Université de Montréal, Montréal, QC H3T 1J4, Canada (e-mail: chobby75@akane.waseda.jp).
Publisher Copyright:
© 2016 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - 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.
AB - 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.
KW - Mechanism design
KW - development and prototyping
KW - product design
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U2 - 10.1109/LRA.2019.2929984
DO - 10.1109/LRA.2019.2929984
M3 - Article
AN - SCOPUS:85077491541
SN - 2377-3766
VL - 4
SP - 4438
EP - 4444
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 8767997
ER -