一种变截面片弹簧骨架柔顺关节的变形研究

Deformation analysis of the compliant joint with variable section lead spring skeleton

提出一种以变截面片弹簧为骨架的气动柔顺关节,可构成柔性自适应机械手。片弹簧的变形等效于自由端受特殊变载荷(方向和大小都随气缸内压力而变化)作用的弹性悬臂梁的大扰度变形。文中采用非线性变系数并带有未知参数的微分方程组建立静态模型,借助ode45和fmincon函数得到不同压力下片弹簧任意位置的转角位移、坐标位移的数值解,变载荷明确后利用ANSYS建模仿真验证模型与数值解法的正确性,最后与等截面片弹簧骨架关节进行对比,说明变截面片弹簧骨架关节具有柔性好、节省能源的优点。

An air-operated compliant joint was proposed with the skeleton of variable section lead spring, which could constitute the flexibility self-adaptability manipulator. The deformation of the leaf spring was equivalent to the large deflection deformation of the elastic cantilever beam with its free end bearing particular load. This load varied both in magnitude and direction with the changing of the pressure inside of the cylinder. Static models of the cantilever were established using non-linear variable coefficient with unknown parameters equation sets. The numerical solution of deformation placement and angle of the leaf spring in any position under different pressures was obtained using ode45 and fmincon function. ANSYS simulation was used to verify the validity of the model and correctness of numerical solution. Finally, the compliant finger proposed in this paper had the advantages of better flexibility and energy saving compared with another compliant joint finger that used equal section leaf spring as skeleton.