基于混合铰链的三维桥式放大机构的建模、分析与试验

doi:10.3901/JME.2018.13.110

机械工程学报 ›› 2018, Vol. 54 ›› Issue (13): 110-116.doi: 10.3901/JME.2018.13.110

• 特邀专栏：柔性机构及机器人 • 上一篇下一篇

基于混合铰链的三维桥式放大机构的建模、分析与试验

陈方鑫, 高福天, 杜志江, 孙立宁, 董为

哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150001

收稿日期:2017-07-28 修回日期:2017-12-09 出版日期:2018-07-05 发布日期:2018-07-05
通讯作者: 董为(通信作者),男,1978年出生,博士,副教授,博士研究生导师。主要研究方向为并联机器人技术与应用。E-mail:dongwei@hit.edu.cn
作者简介:陈方鑫,男,1992年出生,博士研究生。主要研究方向为精密定位机器人系统。E-mail:chenfx_hit@163.com;高福天,男,1995年出生,硕士研究生。主要研究方向为柔顺行程放大机构。E-mail:gaoft_hit@163.com;杜志江,男,1972年出生,博士,教授,博士研究生导师。主要研究方向为并联机器人、医疗机器人等。E-mail:duzj01@hit.edu.cn
基金资助:
国家自然科学基金（51475113）和黑龙江省自然科学基金（E20150006）资助项目。

Modeling, Analysis and Experiments of a Three-dimensional Bridge-type Mechanism with Combined Flexure Hinges

CHEN Fangxin, GAO Futian, DU Zhijiang, SUN Lining, DONG Wei

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2017-07-28 Revised:2017-12-09 Online:2018-07-05 Published:2018-07-05

摘要/Abstract

摘要： 为了解决全柔顺桥式放大机构实际放大倍数过低的问题，提出了一种基于混合铰链的三维桥式放大机构。该放大机构不仅保持了传统桥式放大机构对称性好、结构紧凑、设计简单的优点，而且还能实现较高的放大倍数。为了分析三维桥式机构的放大倍数和负载能力，采用了柔度矩阵法建立了机构的静力学模型，并且在此基础上提出了一种新的性能指标，即相对放大倍数，用于评价柔性放大机构的位移损失程度。3种最常用的柔性铰链被用于三维桥式机构的分析，通过仿真结果发现，当第一级机构采用V形铰链，第二级机构采用簧片式铰链的时候，三维桥式放大机构的各项性能达到最优。最后，设计加工了放大倍数为41，相对放大倍数在0.9以上的三维桥式机构，证明了分析结果的正确性。

关键词: 桥式放大机构, 柔度矩阵法, 柔性铰链, 相对放大倍数

Abstract: To solve the issue of low amplification ratio for the compliant bridge-type mechanism, a three dimensional bridge-type mechanism with combined flexure hinges is proposed, which not only remains the superiority of the conventional bridge-type mechanisms, e.g., structure symmetry, compact size and simple design, but also achieves high amplification ratio. To analyse the performance of the 3D bridge-type mechanism, the statics model is established via the compliance matrix method, based on which a new evaluation index, the relative amplification rate is proposed to measure the displacement loss of the mechanism. Several 3D bridge type mechanisms with three frequently used flexure hinges are analysed by the established model. The results show that the 3D bridge-type mechanism reaches the optimal performance when the V-shaped hinge and the filled leaf hinge are employed in bridge 1 and bridge 2 respectively. Finally, a bridge-type mechanism with amplification ratio of 41 and relative amplification rate of 0.9 is confirmed by FEA simulation and experiments.

Key words: bridge type mechanism, compliance matrix method, flexure hinges, relative amplification rate

中图分类号:

TG156

陈方鑫, 高福天, 杜志江, 孙立宁, 董为. 基于混合铰链的三维桥式放大机构的建模、分析与试验[J]. 机械工程学报, 2018, 54(13): 110-116.

CHEN Fangxin, GAO Futian, DU Zhijiang, SUN Lining, DONG Wei. Modeling, Analysis and Experiments of a Three-dimensional Bridge-type Mechanism with Combined Flexure Hinges[J]. Journal of Mechanical Engineering, 2018, 54(13): 110-116.

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基于混合铰链的三维桥式放大机构的建模、分析与试验

Modeling, Analysis and Experiments of a Three-dimensional Bridge-type Mechanism with Combined Flexure Hinges

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