Print Email Facebook Twitter Static Balancing of Single Loop Reconfigurable Mechanisms Title Static Balancing of Single Loop Reconfigurable Mechanisms Author Robertson, P.D. Contributor Herder, J.L. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Precision and Microsystems Engineering Date 2016-06-08 Abstract Reconfigurable mechanisms are a relatively recent contribution to the field of mechanism design and authors have only just been producing real-life applications of these mechanisms. This paper builds on the application of two categories of reconfigurable mechanisms by applying a generalised static balancing theory suggested in a previous review paper [5]. These groups are single loop mechanisms with one degree of freedom per mode, and single loop mechanisms with multiple degrees of freedom per mode,. In this paper it is shown that for the single DoF mechanisms these mechanisms can be balanced using a single spring. The multiple DoF mechanisms can be balanced by balancing each link with respect to the previous link. These balancing strategies are mathematically shown to be valid. The theory is then applied to a reconfigurable rehabilitation mechanism by Tseng et al. [2] of which a simulation and a prototype is made to validate the theory. From the simulation and prototype follows that the single spring balancing of multiple configurations of a single DoF mechanism is possible Subject Reconfigurable MechanismsStatic BalancingSingle loop mechanismsSingle spring To reference this document use: http://resolver.tudelft.nl/uuid:0d071bec-1ffc-4e18-8d13-31961e7b72ba Part of collection Student theses Document type master thesis Rights (c) 2016 Robertson, D. Files PDF Thesis_PDRobertson.pdf 20.46 MB Close viewer /islandora/object/uuid:0d071bec-1ffc-4e18-8d13-31961e7b72ba/datastream/OBJ/view