直梁形柔性铰链结构参数对其刚度性能影响的分析

Analysis of the Influence of Straight Beam Flexible Hinge Structure Parameter on the Stiffness

柔性铰链是目前被广泛用于微动机器人的主要部件之一,其刚度性能直接影响微动机器人的终端定位。由于实际需要的多样性和复杂性,使得其实际结构的几何尺寸不能完全满足传统理论分析的假设条件,因此影响到对其性能的准确分析。采用有限元软件ANSYS分析了多个不同尺寸参数的直梁形柔性铰链的转动刚度,并与其解析计算结果进行了比较,分析了二者间产生误差的根本原因。

Flexible hinges are widely used as one of the essential components to micro motion robot.The positioning and of micro motion robot ending positioning is effected directly by its stiffness.However,due to the diversities and complexities of practical demands,the geometric dimension of its practical structure is not satisfied the assumed condition of traditional theroy analysis and the accuracy analysis of its performance is effected.Based on finite element methods,the rotation stiffness of many different geometrical parameters for straight beam flexible hinge is analyzed.Comparing with the analytical results and the root cause of the errors are analyzed.