摘要
柔性铰链广泛用在微动机器人的关节,其柔度性能直接影响微动机器人的终端定位。以材料力学卡氏第二定理和微积分为理论基础,推导了直梁型柔性球铰柔度的解析公式,并利用ANSYS10.0软件对柔度公式进行校验,分析结果与解析公式的计算结果基本一致。分析直梁柔性球铰的性能,得出了结构参数对其柔度性能的影响关系,为柔性球铰的工程设计提供了参考。
Flexible hinges are widely used in micro robotic. Its compliance directly influences organization＇ s terminal localiza- tion. Based on the Castigliano＇ s second theorem and calculus, closed-form equations were formulated for compliances of corner-fille- ted flexure spherical hinge. The finite element analysis results meet the model predictions. The corner-filleted flexure spherical hinge＇s performance was analyzed, and the influences of two-dimensional geometric parameters on the compliance were obtained. It nrnv;do~ thanrv hn^i~ fnr tha nntirnizntion of corner-filleted flexure snherical hinge and the flexible link rod.
出处
《机床与液压》
北大核心
2013年第3期55-58,共4页
Machine Tool & Hydraulics
基金
江西省教育厅基金资助项目(GJJ11432)
关键词
直梁型柔性球铰
卡氏定理
柔度
Corner-filleted flexure spherical hinge
Castigliano＇ s theorem
Compliance
