• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (7): 45-52.

• 论文 • 上一篇    下一篇

曲梁三角形柔性铰链力学建模与分析

乔涛;毕树生;赵宏哲;于靖军   

  1. 北京航空航天大学机器人研究所
  • 发布日期:2011-04-05

Modeling and Analysis of Curved Leaf-spring Triangle Compliant Joint

QIAO Tao;BI Shusheng;ZHAO Hongzhe;YU Jingjun   

  1. Robotics Institute, Beihang University
  • Published:2011-04-05

摘要: 直簧片柔性铰链研究结果表明,簧片的约束行为对柔性铰链的刚度和精度特性具有本质影响,而具有放松约束行为的弯曲簧片一直缺乏系统研究,其非功能方向的约束特性具有重要研究价值。尤其对于曲梁三角形柔性铰链,建立直观的力学模型,对于放松约束行为的曲梁柔性铰链拓扑研究具有重要意义。基于Awtar曲梁模型公式,在普遍受力状态下,建立基于曲梁的三角形柔性铰链转角数学模型,并推导出轴漂数学模型,理论分析与有限元分析结果精确吻合,说明数学模型的正确性,同时,计算结果表明,曲梁柔性铰链约束行为具有较多变化,为新型柔性铰链的设计提供了新的思路。

关键词: 柔性铰链, 弯曲簧片, 约束行为

Abstract: The research on straight leaf-spring shows that the constraint-based action is essential for stiffness and accuracy of a complaint joint. So far, little research about constraint-based action has been done for the curved leaf-spring especially for the curved leaf-spring compliant joint. Building up the stiffness model and accuracy model is important for compliant mechanisms synthesis. Based on Awtar-formula, the approximate rotation angle model and axis drift model of a curved leaf-spring triangle compliant joint under simultaneous load (bending moment, tangential force and axial force) are built. The rotation angle model and axis drift model are verified by finite element analysis. The curved leaf-spring triangle compliant joint is versatile that is revealed by the FEA simulation and model computation, the character can provide a new method for the compliant joint structure synthesis.

Key words: Complaint joint, Constraint-based action, Curved leaf-spring

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