Technical report on the design of extension springs for the 2-RRS-1-RRRR mechanism

  1. Isaac John
  2. Santhakumar Mohan
  3. Philippe Wenger
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Abstract

This report investigates two strategies for the design of extension springs suitable for various proportions of a two-degrees-of-freedom (dof), 2-RRS-1-RRRR cable-actuated mechanism. The design strategies seek feasible designs for extension springs conforming to geometrical constraints on free length and outer coil diameter, as well as strength-based constraints defined by factors of safety at critical locations in the coil and hooks.

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  1. Version published to 10.31224/6183