• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (13): 53-68.doi: 10.3901/JME.2015.13.053

• 机构学及机器人学研究进展——纪念张启先院士诞辰九十周年专辑 • 上一篇    下一篇



于靖军1, 郝广波2, 陈贵敏3, 毕树生1   

  1. 1.北京航空航天大学机器人研究所;
  • 出版日期:2015-07-05 发布日期:2015-07-05
  • 基金资助:
    国家自然科学基金(51175010, 51305007)和教育部博士点基金(20111102130004)资助项目

State-of-art of Compliant Mechanisms and Their Applications

YU Jingjun1, HAO Guangbo2, CHEN Guimin3, BI Shusheng1   

  1. 1.Robotics Institute, Beihang University;
    2.School of Engineering-Electrical and Electronic Engineering, University College Cork;
    3.School of Mechatronics, Xidian University
  • Online:2015-07-05 Published:2015-07-05

摘要: 柔性机构自20世纪80年代提出以来迅猛发展,已成为现代机构学一个重要分支。短短不足30年间,柔性机构设计理论的构建与发展,为柔性机构成功应用奠定了坚实基础。随着对柔性及柔性机构认识不断深入,柔性机构得到了广泛应用,不断涌现新的成功实例。继5年前综述了柔性机构设计方法研究进展之后,尝试从应用的视角鸟瞰一下柔性机构的最新进展。通过将柔性机构的主体应用划分为精密工程、仿生机器人、智能材料结构三大主阵地,概述柔性机构在每个阵地中的应用进展及研究热点情况,并对其发展做了展望。对四种最具发展潜力和应用前景的新型柔性机构(胞元式柔性机构、辅助接触式柔性机构、平面折展机构、柔性静平衡机构)进行简单描述。

关键词: 仿生机器人, 精密工程, 柔性机构, 柔性铰链, 智能结构

Abstract: Since the concept of compliant mechanisms (CMs) is firstly proposed in late 1980s, it develops rapidly and has become an important branch of modern mechanism community. In the past less than 30 years, dozens of design methodologies and theories for CMs have emerged, which lays a solid foundation on their successful use. With the increasing insight for flexures and CMs, more and more applications of CMs can be found in various fields. After summarizing and comparing the current design methods for flexure-based compliant mechanisms five years ago, the state-of-arts of CMs have been overviewed from the point of application in this paper. Most existing CMs are resorted to three categories, i.e. precision engineering, bionic robotics, and smart structures if considering the difference of their functions and application background. The successful uses, study focuses and even application prospects in each category of CMs are introduced case by case. Afterward, four new types of CMs with great potential applications, i.e. cellular CMs, contact aid CMs, lamina emergent mechanisms, and static balance CMs are illustrated in brief. We hope more scholars all over the world start to study these amazing CMs and industrial personnel pay more attention on the usage of CMs as well after getting the overview of CMs.

Key words: bionic robots, compliant joints, compliant mechanisms, precision engineering, smart structures