微柔顺装置及其力学分析

Micro Remote Center Compliance And Mechanical Behavior

根据微装配及柔性铰链的特点 ,提出了微柔顺装置 (MRCC ,MicroRemoteCenterCompliance)并对其进行了力学分析。由平衡方程和几何相容条件推导出了三个重要的设计参数———位移刚度Kx、角位移刚度K 和中心距L的表达式。讨论并示例了柔性铰链的刚度系数、结构参数、位置参数对Kx、K 和L的影响 ,分析结果表明 ,位置参数中的转角θ对Kx、K 和L影响最大 ,而且要同时获得Kx、K 和L的最佳值是不可能的 ,只能在设计微RCC时综合考虑 ,选择合适的θ值。

MRCC(Micro Remote Center Compliance) is proposed to meet the requirement of micro assembly operation and the mechanical behavior is investigated. According to mechanical equilibrium equations and geometric compatibility, three important parameters, namely lateral stiffness K x, rotational stiffness K  and distance L, are derived. The influences of the stiffness coefficients, structural parameters and position parameters of flexible hinge on the K x, K  and L are discussed. The analyses indicate that θ, one of the position parameters, has the most remarkable influences on K x, K  and L, and the three can not reach to the optimum values simultaneously. The determination of θ ought to be considered based on a synthetic compromise of the three in design of MRCC.