三自由度柔顺球面运动链的设计与刚度分析

Design and Stiffness Analysis of 3-DOF Compliant Spherical Chain

柔顺机构具有众多的优点,在很多精密场合应用较多,球面柔顺机构作为空间柔顺的一种形式,串联柔顺球面3R开链的建模与分析还存在待解决的问题。在此基础上,针对柔顺球面3R开链的2种形式:曲线梁柔性铰链和直线梁柔性铰链,首先给出了球面运动链的闭合柔度方程,然后分析了单一柔性铰链的柔度模型,在此基础上建立了曲线梁柔性铰链和直线梁柔性铰链的串联柔度模型,然后通过仿真分析与对比的方法,对曲率半径R和包角θ对柔度因子的影响进行了分析。从结果可以看出,曲线梁柔性铰链相对于直线梁柔性铰链更适合产生球面运动。

The compliant mechanism has many advantages. It has many applications in many precision occasions. As a form of spatial softening, the modeling and analysis of the cascade 3R open chain in series are still the problem to be solved. On this basis, the compliant hinge of the curved beam and the flexible hinge of the linear beam are given, first, the closed compliance equation of the spherical kinematic chain is given, and then the flexibility model of the single flexible hinge is analyzed, on this basis, the series flexibility model of the flexural hinge and the flexible hinge of the curved beam is established, then, the influence of the radius of curvature and the angle on the flexibility factor is analyzed by simulation analysis and comparison. It can be seen from the result that the curved beam the flexible hinge is more suitable for spherical motion than the flexible hinge of the straight beam.