Synthesis of Nonlinear Stiffness Profile with a Varying Radius Cable Spool
نویسنده
چکیده
In this paper, we present a cable mechanism which synthesizes a nonlinear rotational spring from a linear spring. The nonlinearity is realized by winding the cable around a spool which has a varying radius. We show that for a given nonlinear torque profile (synthesis objective) there is an explicit geometric expression of the shape of the spool which synthesizes this profile. We present the geometry of the problem, explain the method to calculate the shape of the spool, and show an example of synthesis.
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