单平行四杆柔性铰链机构刚度特性分析

The Stiffness Analysis of Single Parallel Four-bar Flexure Hinge Mechanism

柔性铰链是并联微动机器人的柔性关节,其刚度特性直接影响到微动机构的定位精度。根据材料力学能量法推导了圆弧型柔性铰平行四杆机构刚度的解析式,利用ANSYS软件对柔性铰四杆机构刚度进行了验证,有限元分析结果与解析式的计算结果基本一致;并分析了柔性铰平行四杆机构的结构参数对其刚度性能的影响,为柔性移动副设计提供了有价值的参考。

Flexure hinges are widely used as the flexible joint in micro robotics,whose stiffness directly affects the positioning accuracy of the micro-mechanism. In this paper,the analytical formula of stiffness for the arc parallel four-bar flexure hinge is derived from the energy method of material mechanics,and verified by AN-SYS software. The analytical formula calculation results correspond basically with the finite element analysis re-sults of ANSYS software. Moreover,this paper explores how the stiffness of the four-bar flexure hinge mecha-nism is affected by its structure parameters,which may provide valuable reference for the flexible mobile de-sign of the parallel four-bar flexure hinge.