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<p>In the field of robotics, overload protection and force regulation are needed, and the pursuit of variable output constant force mechanisms has attracted considerable interest. This study proposes an innovative bio-inspired configuration of a constant-force compliant mechanism (SiCFM), grounded in the quasi-zero stiffness (QZS) principle. Inspired by the shrimp’s leg anatomy, this article develops a constant force compliant mechanism (SiCFM) that combines negative and positive stiffness components. To achieve an adjustable constant force output, this study explores various configurations for both the negative stiffness component (NSC) and positive stiffness component (PSC). After comparison analysis and evaluation, the NSC #3 and PSC #2 are chosen as the optimal combinations. These components are integrated to create four distinct SiCFM configurations. The first mechanism is adopted as the final design proving to be the most effective. Using the chain beam constrained model, the kinetostatic modeling of the mechanism was established for the NSC, PSC, and the combined SiCFM. The analysis revealed that applying an input displacement of 1–5&#xa0;mm to the PSC results in a constant force output of 21 N within a stroke range of 1.2–2.2&#xa0;mm. Experimental validation of the prototype demonstrated excellent agreement between the theoretical method, finite element analysis, and experimental results, with a maximum error of approximately 8%. The proposed bio-inspired design is a promising configuration for applications in diverse fields in robotic grippers and advanced polishing machining.</p>

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Design and Kinetostatic Modelling of a New Inspired-Shrimp Constant Force Compliant Mechanism for Robotic Application

  • 期刊论文

  • 发表日期：

    2025年10月15日

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  • Anh Binh Ngoc Le,
  • Ngoc Thoai Tran,
  • Minh Phung Dang,
  • Hong Van Tran,
  • Nhat Linh Ho,
  • Thanh-Phong Dao

摘要

In the field of robotics, overload protection and force regulation are needed, and the pursuit of variable output constant force mechanisms has attracted considerable interest. This study proposes an innovative bio-inspired configuration of a constant-force compliant mechanism (SiCFM), grounded in the quasi-zero stiffness (QZS) principle. Inspired by the shrimp’s leg anatomy, this article develops a constant force compliant mechanism (SiCFM) that combines negative and positive stiffness components. To achieve an adjustable constant force output, this study explores various configurations for both the negative stiffness component (NSC) and positive stiffness component (PSC). After comparison analysis and evaluation, the NSC #3 and PSC #2 are chosen as the optimal combinations. These components are integrated to create four distinct SiCFM configurations. The first mechanism is adopted as the final design proving to be the most effective. Using the chain beam constrained model, the kinetostatic modeling of the mechanism was established for the NSC, PSC, and the combined SiCFM. The analysis revealed that applying an input displacement of 1–5 mm to the PSC results in a constant force output of 21 N within a stroke range of 1.2–2.2 mm. Experimental validation of the prototype demonstrated excellent agreement between the theoretical method, finite element analysis, and experimental results, with a maximum error of approximately 8%. The proposed bio-inspired design is a promising configuration for applications in diverse fields in robotic grippers and advanced polishing machining.