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<p>The close-coiled helical spring, provides advantages such as high elasticity, compactness, and simplicity, often utilized as the foundation pieces for nonlinear output structures. These structures are utilized for assistive robots to ensure safe interaction and dynamic adaptation. We present a study to analyze the mechanical behaviors of the torsion spring with an internal open-ended sleeve as a damping structure. An elasticity theory-based method is proposed for predicting the variation of torsion spring wire mid-diameter with output torque based on the contact state during the torsion process. Further, numerical analysis and validation are carried out using the finite element analysis (FEA) method to verify the validity of the theoretical model and the rationality of the proposed method. The torsion spring-split sleeve structure is also verified experimentally. This result provides an important basis for designing nonlinear structures with high torque and high-elasticity requirements.</p>

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Mechanical modeling and numerical validation of the torsion spring coiled on a split sleeve

  • 期刊论文

  • 发表日期：

    2025年9月4日

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  • Yuting Zhang,
  • Xiangxu Qu,
  • Chao Zhang,
  • Dongxing Cao

摘要

The close-coiled helical spring, provides advantages such as high elasticity, compactness, and simplicity, often utilized as the foundation pieces for nonlinear output structures. These structures are utilized for assistive robots to ensure safe interaction and dynamic adaptation. We present a study to analyze the mechanical behaviors of the torsion spring with an internal open-ended sleeve as a damping structure. An elasticity theory-based method is proposed for predicting the variation of torsion spring wire mid-diameter with output torque based on the contact state during the torsion process. Further, numerical analysis and validation are carried out using the finite element analysis (FEA) method to verify the validity of the theoretical model and the rationality of the proposed method. The torsion spring-split sleeve structure is also verified experimentally. This result provides an important basis for designing nonlinear structures with high torque and high-elasticity requirements.