混合型柔性铰链构型设计与柔度建模

doi:10.3901/JME.2022.21.078

机械工程学报 ›› 2022, Vol. 58 ›› Issue (21): 78-91.doi: 10.3901/JME.2022.21.078

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混合型柔性铰链构型设计与柔度建模

李立建¹, 姚建涛^2,3, 郭飞¹, 王迎佳¹, 王丽君¹

1. 华北水利水电大学机械学院郑州 450045;
2. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004;
3. 燕山大学先进锻压成形技术与科学教育部重点实验室秦皇岛 066004

收稿日期:2021-12-06 修回日期:2022-08-04 出版日期:2022-11-05 发布日期:2022-12-23
通讯作者: 姚建涛(通信作者),男,1980年出生,教授,博士研究生导师。主要研究方向为机器人机构理论和仿生与软体机器人理论及应用。E-mail:jtyao@ysu.edu.cn
作者简介:李立建,男,1986年出生,博士,讲师,硕士研究生导师。主要研究方向为机器人机构学和柔性并联多维力传感器。E-mail:lljianzhu@126.com;王丽君,女,1971年出生,博士,教授,博士研究生导师。主要研究方向为机器人建模与智能控制和机电系统控制及信号分析。E-mail:wljmb@163.com
基金资助:
国家自然科学基金（52005181，U2037202）和河南省2020年中原英才计划（ZYYCYU202012112）资助项目。

Configuration Design and Compliance Modeling of Hybrid Flexure Hinges

LI Lijian¹, YAO Jiantao^2,3, GUO Fei¹, WANG Yingjia¹, WANG Lijun¹

1. School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045;
2. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
3. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao 066004

Received:2021-12-06 Revised:2022-08-04 Online:2022-11-05 Published:2022-12-23

摘要/Abstract

摘要： 通过将对称型柔性铰链进行分段和命名，提出一种基于柔性铰链基段和镜像段串联组合的混合型柔性铰链构型设计方法。基于卡式第二定理，将基段柔度建模转化成与其槽口形状函数有关的定积分问题。推导得到镜像段与其基段间的柔度映射和多段基段的柔度矩阵，进而构建出形式统一的两段混合型柔性铰链通用柔度和精度模型。选取圆锥曲线、矩形梁和棱台型基段类型，基于组合设计共获得96种新型混合型柔性铰链。结合具体算例和借助有限元验证理论模型的正确性，并对所设计和现有的柔性铰链构型性能统一进行评价分析。研究工作可为柔性铰链构型优选和特性评价提供理论指导。

关键词: 混合型柔性铰链, 构型设计, 柔度建模, 基段, 镜像段

Abstract: By segmenting and naming symmetric flexure hinges, a design method for hybrid flexure hinges based on the serial combination of base and mirrored segments is presented. Utilizing the Castigliano's second theorem, the compliance modeling of base segments is transformed into several definite integrals associated with the function of notch contours. The compliance mapping between the mirrored and its base segments and the compliance matrix of multi-segment base segments are derived, and then the generalized compliance and precision models of two-segment hybrid flexure hinges are constructed. The conic-section, rectangular beam and frustum pyramid base segments are selected, and ninety-six kinds of novel hybrid flexure hinges are designed with the presented method. The correctness of theoretical models is validated by combining examples of flexure hinges with finite element analysis, and the performances for the designed and existing configurations of flexure hinges are uniformly analyzed and evaluated. This study can provide a theoretical guidance for the configuration optimization and characteristic evaluation of flexure hinges.

Key words: hybrid flexure hinge, configuration design, compliance modeling, base segment, mirrored segment

中图分类号:

TH112

李立建, 姚建涛, 郭飞, 王迎佳, 王丽君. 混合型柔性铰链构型设计与柔度建模[J]. 机械工程学报, 2022, 58(21): 78-91.

LI Lijian, YAO Jiantao, GUO Fei, WANG Yingjia, WANG Lijun. Configuration Design and Compliance Modeling of Hybrid Flexure Hinges[J]. Journal of Mechanical Engineering, 2022, 58(21): 78-91.

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混合型柔性铰链构型设计与柔度建模

Configuration Design and Compliance Modeling of Hybrid Flexure Hinges

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