垂直载荷对交叉簧片柔性铰链准恒定转动刚度的影响分析

doi:10.3901/JME.2018.03.001

机械工程学报 ›› 2018, Vol. 54 ›› Issue (3): 1-7.doi: 10.3901/JME.2018.03.001

• 机构学及机器人 • 下一篇

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垂直载荷对交叉簧片柔性铰链准恒定转动刚度的影响分析

李永振¹, 毕树生¹, 赵宏哲¹, 杨其资¹, 张述卿²

1. 北京航空航天大学机器人研究所北京 100191;
2. 北京控制工程研究所北京 101500

收稿日期:2017-01-27 修回日期:2017-09-04 出版日期:2018-02-05 发布日期:2018-02-05
通讯作者: 赵宏哲(通信作者),男,1981年出生,博士,讲师,硕士研究生导师。主要研究方向为全柔性机构。E-mail:hongzhezhao@gmail.com
作者简介:李永振,男,1988年出生,博士研究生。主要研究方向为柔性机构。E-mail:yongzhen_l@sina.com;毕树生,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
基金资助:
国家自然科学基金（51275017，51675015）和北京市自然科学基金（L150002）资助项目。

Influence of Vertical Loads on Quasi-constant Rotational Stiffness of The Cross-spring Flexure Pivot

LI Yongzhen¹, BI Shusheng¹, ZHAO Hongzhe¹, YANG Qizi¹, ZHANG Shuqing²

1. Robotics Institute, Beihang University, Beijing 100191;
2. Beijing Institute of Control Engineering, Beijing 101500

Received:2017-01-27 Revised:2017-09-04 Online:2018-02-05 Published:2018-02-05

摘要/Abstract

摘要： 交叉簧片柔性铰链的转动刚度特性对设计人员是需要重点考虑的，但一些相关的特性尚未被揭晓。通过对应用于静平衡仪的交叉簧片柔性铰链转角公式推导过程中保留垂直载荷的二阶项，建立铰链的转角-载荷模型。分析包含垂直力载荷高阶项的转动刚度和垂直力刚度，更好地描述了垂直载荷、几何参数对铰链刚度的影响。研究发现，只有垂直载荷及铰链转动角度均相对较小时，铰链才具有近似常值的转动刚度，并且随着垂直载荷的增加，铰链转动刚度趋于不断增大。当旋转角度较大时，垂直载荷作为铰链转动的驱动力，将会使铰链转动刚度的非线性特征体现的更明显。通过有限元仿真分析和试验验证了该类铰链的刚度特性，从而为交叉簧片柔性铰链的应用提供了依据。

关键词: 垂直载荷, 刚度特性, 交叉簧片柔性铰链, 近似恒定转动刚度

Abstract: The rotational stiffness characteristics of cross-spring pivot are important consideration for designers, but some of these attributes of the pivots subjected to vertical loads have not been revealed. A simple rotational angle model with high order terms of vertical loads is developed to study the influence of vertical loads on Quasi-constant rotational stiffness of cross-spring pivot used in compliant static balance instrument. Then rotational stiffness and vertical stiffness are analyzed to better characterize the influence of vertical loads on rotational stiffness. The study shows that can rotational stiffness be deemed to be quasi-constant only when the value of vertical load and rotational angle both are small. Otherwise, when vertical load is very large, rotational stiffness is quadratic function of vertical load. While when rotational angle is very large, vertical load will be a driving load, and the nonlinear characteristic of rotational stiffness becomes apparent. Finally, these attributes, analyzed by theoretical model, are verified by finite element analysis (FEA) and experiments.

Key words: cross-spring pivot, quasi-constant rotational stiffness, stiffness characteristics, vertical loads

中图分类号:

TH112

李永振, 毕树生, 赵宏哲, 杨其资, 张述卿. 垂直载荷对交叉簧片柔性铰链准恒定转动刚度的影响分析[J]. 机械工程学报, 2018, 54(3): 1-7.

LI Yongzhen, BI Shusheng, ZHAO Hongzhe, YANG Qizi, ZHANG Shuqing. Influence of Vertical Loads on Quasi-constant Rotational Stiffness of The Cross-spring Flexure Pivot[J]. Journal of Mechanical Engineering, 2018, 54(3): 1-7.

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垂直载荷对交叉簧片柔性铰链准恒定转动刚度的影响分析

Influence of Vertical Loads on Quasi-constant Rotational Stiffness of The Cross-spring Flexure Pivot

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