柔顺机构PRR伪刚体模型的研究

PRR Pseudo-Rigid-Body Model of Compliant Mechanisms

在已有伪刚体模型的基础上,将柔顺机构里大变形柔顺杆的轴向变形和横向变形的影响都考虑进去,增加伪刚体模型的自由度,提出一种具有两个转动副和一个移动副的多自由度伪刚体模型。该模型将4个不同长度的刚性杆件用一个拉压弹簧和两个不同刚度系数的扭转弹簧依次连接,进而建立柔顺机构中大变形柔顺杆的PRR伪刚体模型。模型的参数运用二维搜索和线性回归法求得。通过数值分析计算,将该伪刚体模型与1R、和PR伪刚体模型以及柔顺杆的末端轨迹进行分析对比,验证了PRR伪刚体模型能够更加精确地反映柔顺杆末端轨迹的变形特征。

Based on the Pseudo-Rigid-Body Model（PRBM）,a multi-degree of freedom pseudo-rigid-body model is proposed by increasing freedom degree of Pseudo-Rigid-Body Model. The axial displacement and lateral displacement are presented by two revolute pairs and a prismatic pair. This model comprises four rigid links of different length which are connected by a spring and two torsion springs of different stiffness coefficient. The PRR pseudo-rigid-body model of compliant mechanism is developed. Model parameters are obtained by using the two-dimensional search method and the linear regression method. The deflection path and angle of the PRR Pseudo-Rigid-Body Model is analyzed through the numerical comparisons with the 1R,2R PRBM models and compliant links,that verify the PRR Pseudo-Rigid-Body Model can more accurately reflect the deformation characteristics of compliant link.