LAUSR

This paper presents a novel nested, compliant, constant-force mechanism (CFM) that generates millimeter-scale manipulation stroke. The nested structure is utilized to improve the overall compactness of the CFM. A combination strategy of positive and negative stiffness is induced to generate constant force with a millimeter-level range. In particular, bi-stable beams are used as the negative stiffness part, and V-shaped beams are selected as the positive stiffness part, and they are constructed into the nested structures. With this, a design concept of the CFM is first proposed. From this, an analytical model of the CFM was developed based on the pseudo-rigid body method (PRBM) and chain beam constraint model (CBCM), which was verified by conducting a simulation study with nonlinear finite-element analysis (FEA). Meanwhile, a parametric study was conducted to investigate the influence of the dominant design variable on the CFM performance. To demonstrate the performance of the CFM, a prototype was fabricated by wire cutting. The experimental results revealed that the proposed CFM owns a good constant-force property. This configuration of CFM provides new ideas for the design of millimeter-scale, constant-force, micro/nano, and hard-surface manipulation systems.