基于曲柄弹簧机构的零刚度柔性铰链研究

doi:10.3901/JME.2018.13.086

机械工程学报 ›› 2018, Vol. 54 ›› Issue (13): 86-93.doi: 10.3901/JME.2018.13.086

• 特邀专栏：柔性机构及机器人 • 上一篇下一篇

扫码分享

基于曲柄弹簧机构的零刚度柔性铰链研究

毕树生, 杨其资, 刘浪, 赵宏哲

北京航空航天大学机器人研究所北京 100191

收稿日期:2017-07-15 修回日期:2017-10-31 出版日期:2018-07-05 发布日期:2018-07-05
通讯作者: 毕树生(通信作者),男,1966年出生,博士,教授,博士研究生导师。主要研究方向为全柔性机构及仿生机器人。E-mail:ssbi@buaa.edu.cn
作者简介:杨其资,男,1990年出生,博士研究生。主要研究方向为柔性铰链。E-mail:tehaoxiaozi@126.com
基金资助:
国家自然科学基金资助项目（51675015，51275017）。

Study of Zero Stiffness Flexural Pivot Based on Spring-crank Mechanism

BI Shusheng, YANG Qizi, LIU Lang, ZHAO Hongzhe

Robotics Institute, Beihang University, Beijing 100191

Received:2017-07-15 Revised:2017-10-31 Online:2018-07-05 Published:2018-07-05

摘要/Abstract

摘要： 零刚度柔性铰链的转动刚度近似为零，克服了普通柔性铰链需要驱动力矩的缺陷，可应用于柔性夹持器等领域。以纯扭矩作用下的内外环柔性铰链为正刚度子系统，研究负刚度机构并匹配正负刚度，可构造零刚度柔性铰链。提出一种负刚度转动机构——曲柄弹簧机构，建模分析了其负刚度特性；通过匹配正负刚度，分析了曲柄弹簧机构的结构参数对零刚度品质的影响；提出一种可定制刚度和尺寸的线性弹簧——菱形片簧串，建立其刚度模型并进行了有限元仿真验证；最终，完成了一种结构紧凑的零刚度柔性铰链样件的设计、加工和测试。测试结果表明：纯扭矩作用下，±18°转角范围内，零刚度柔性铰链的转动刚度比内外环柔性铰链平均降低了93%。所构造的零刚度柔性铰链结构紧凑，零刚度品质高；所提出的负刚度转动机构和可定制刚度的线性弹簧对柔性机构的研究具有较大的参考价值。

关键词: 负刚度转动机构, 菱形片簧串, 零刚度柔性铰链, 内外环柔性铰链, 曲柄弹簧机构

Abstract: Zero stiffness flexural pivot (ZSFP) has approximately zero rotational stiffness, doesn't require driving moment to function compared to general flexural pivots, and can be applied to fields like compliant grippers. By implementing inner and outer ring flexural pivot (IORFP) under pure torque as positive stiffness sub-system, studying negative stiffness mechanism and matching positive and negative stiffness, ZSFP can be modeled. The study proposes a negative stiffness rotation mechanism-spring-crank mechanism (SCM), and the negative stiffness characteristics of SCM is analyzed with models. Through matching of positive and negative stiffness, how the structural parameters of SCM affect the quality of zero stiffness for ZSFP is further analyzed. The study further proposes a stiffness and size specified spring-string of diamond leaves, which can be used in SCM, and finite element analysis (FEA) is applied to the stiffness models. Thus realizes the design, manufacture and test of a compact structure ZSFP. Test results indicate that under pure torque and ±18° rotational angle, the stiffness of ZSFP decreases 93% on average compared to that of IORFP. The proposed ZSFP has advantages in high structure compactness and quality of zero stiffness; the proposed SCM model and stiffness specified string of diamond leaves possess considerable value to the study of complaint mechanisms.

Key words: inner and outer ring flexural pivot, negative stiffness rotation mechanism, spring-crank mechanism, string of diamond leaves, zero stiffness flexural pivot

中图分类号:

TH112

毕树生, 杨其资, 刘浪, 赵宏哲. 基于曲柄弹簧机构的零刚度柔性铰链研究[J]. 机械工程学报, 2018, 54(13): 86-93.

BI Shusheng, YANG Qizi, LIU Lang, ZHAO Hongzhe. Study of Zero Stiffness Flexural Pivot Based on Spring-crank Mechanism[J]. Journal of Mechanical Engineering, 2018, 54(13): 86-93.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.2018.13.086

http://www.cjmenet.com.cn/CN/Y2018/V54/I13/86

参考文献

[1] HOWELL L L. Compliant mechanisms[M]. New York:John Wiley&Sons, Inc, 2001.
[2] 于靖军,裴旭,毕树生,等. 柔性铰链机构设计方法的研究进展[J]. 机械工程学报, 2010, 46(13):2-13. YU Jingjun, PEI Xu, BI Shusheng, et al. State-of-arts of design method for flexure mechanisms[J]. Journal of Mechanical Engineering, 2010, 46(13):2-13.
[3] MORSCH F M, HERDER J L. Design of a generic zero stiffness compliant joint[C]//ASME International Design Engineering Conferences, 2010:427-435.
[4] MERRIAM E G, HOWELL L L. Non-dimensional approach for static balancing of rotational flexures[J]. Mechanism & Machine Theory, 2015, 84(84):90-98.
[5] HOETMER K, WOO G, KIM C, et al. Negative stiffness building blocks for statically balanced compliant mechanisms:Design and testing[J]. Journal of Mechanisms & Robotics, 2010, 2(4):041007.
[6] JENSEN B D, HOWELL L L. The modeling of cross-axis flexural pivots[J]. Mechanism and machine theory, 2002, 37(5):461-476.
[7] WITTRICK W H. The properties of crossed flexure pivots and the influence of the point at which the strips cross[J]. The Aeronautical Quarterly, 1951, Ⅱ:272-292.
[8] LIU L, BI S, YANG Q, et al. Design and experiment of generalized triple-cross-spring flexure pivots applied to the ultra-precision instruments[J]. Review of Scientific Instruments, 2014, 85(10):105102.
[9] 杨其资,刘浪,毕树生,等. 广义三交叉簧片柔性铰链的旋转刚度特性研究[J]. 机械工程学报, 2015, 51(13):189-195. YANG Qizi, LIU Lang, BI Shusheng, et al. Rotational stiffness characterization of generalized triple-cross-spring flexure pivots[J]. Journal of Mechanical Engineering, 2015, 51(13):189-195.
[10] LIU L, ZHAO H, BI S, et al. Research of performance comparison of topology structure of cross-spring flexural pivots[C]//ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 17-20, 2014, Buffalo, New York, USA. ASME, 2014:V05AT08A025.
[11] LIU L, BI S, YANG Q. Stiffness characteristics of inner-outer ring flexure pivots applied to the ultra-precision instruments[J]. ARCHIVE Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science 1989-1996(vols. 203-210), 2017:095440621772172.
[12] SANCHEZ J A G. Criteria for the static balancing of compliant mechanisms[C]//ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 15-18, 2010, Montreal, Quebec, Canada. ASME, 2010:465-473.
[13] AWTAR S, SEN S. A generalized constraint model for two-dimensional beam flexures:Nonlinear strain energy formulation[J]. Journal of Mechanical Design, 2010, 132:81009.

[1]	孟祥飞, 谭国栋, 段学超, 肖佳宣, 姚斌. 基于运动学映射模型的并联驱动式天线座分析与参数优化[J]. 机械工程学报, 2026, 62(5): 182-191.
[2]	李菊, 佘俊杰, 沈惠平, 曾博雄, 杨廷力. 基于最小子运动链的具有符号式位置正解且运动解耦并联机构的拓扑设计方法[J]. 机械工程学报, 2025, 61(23): 41-57.
[3]	马文硕, 朱昊宽, 杨毅青, 于靖军. 动力吸振技术及其创新设计研究进展[J]. 机械工程学报, 2025, 61(21): 2-17.
[4]	刘世伟, 李龙, 吕胜男, 丁希仑. 基于面对称Bricard单元的弹性空间过约束机构运动分岔与输出特性分析[J]. 机械工程学报, 2025, 61(21): 48-59.
[5]	李通甲, 臧鹏翔, 郭为忠. 新型磁吸附轮式机器人定位、规划与控制算法[J]. 机械工程学报, 2025, 61(21): 60-74.
[6]	王暾, 张行, 张仕民, 朱霄霄, 张来斌, 戴建生. 人机运动中心自匹配的腕关节康复外骨骼设计[J]. 机械工程学报, 2025, 61(21): 100-110.
[7]	梁栋, 韩志强, 宋轶民, 畅博彦. 大负载SCARA并联机器人刚度建模及性能预估[J]. 机械工程学报, 2025, 61(21): 213-226.
[8]	金兆鹏, 赵延治, 刘亚军, 孙悦, 赵鸿飞. 恒雅可比并联式力觉交互操作器机构设计与误差分析[J]. 机械工程学报, 2025, 61(21): 249-258.
[9]	畅博彦, 高宇晗, 金国光, 莫帅, 周杨. 基于Kresling折纸的力位组合约束可展支撑机构动力学研究[J]. 机械工程学报, 2025, 61(21): 274-285.
[10]	赫利涛, 房海蓉, 陈宇飞, 金政贤. 面向复杂曲面集群加工的混联机构设计与分析[J]. 机械工程学报, 2025, 61(21): 389-402.
[11]	李仕华, 徐宏宇, 王森, 高雪原, 韩雪艳. 组合式弱耦合并联机构综合方法研究[J]. 机械工程学报, 2025, 61(17): 41-49.
[12]	曾达幸, 许林淼, 范朝辉, 刘亚, 侯雨雷, 卢文娟. 仿中医按摩执行器按摩力分析及优化设计[J]. 机械工程学报, 2025, 61(15): 247-260.
[13]	王森, 宋敬伟, 李浩然, 李仕华. 含间隙冗余混联机构高精度刚度建模方法[J]. 机械工程学报, 2025, 61(11): 72-85.
[14]	杨文剑, 李永涛, 甘金强, 丁华锋. 基于连杆运动链转化的行星轮系拓扑综合及构型设计[J]. 机械工程学报, 2025, 61(11): 86-105.
[15]	孙学敏, 李锐明, 荀致远, 姚燕安. 球面四杆Bricard-like机构的设计与研究[J]. 机械工程学报, 2025, 61(7): 338-348.

基于曲柄弹簧机构的零刚度柔性铰链研究

Study of Zero Stiffness Flexural Pivot Based on Spring-crank Mechanism

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价