末端加载力的初始弯曲柔性梁3R伪刚体模型

3R Pseudo-rigid-body Model of Initially Curved Flexible Beam With End Loaded Forces

基于Bernoulli-Euler方程从理论上推导了末端加载力的初始弯曲柔性梁末端轨迹和转角。结合实例给出理论计算结果,并和ANSYS软件仿真的结果进行对比,来验证理论模型的正确性。基于直梁3R伪刚体模型建立了末端受力作用的初始弯曲柔性梁的3R伪刚体模型。理论结算结果与初始弯曲柔性梁的3R伪刚体模型、1R伪刚体模型的轨迹结果等进行对比,并给出相对误差,来验证这两种伪刚体模型是否可以有效地模拟初始弯曲柔性梁的末端轨迹和转角以及3R伪刚体模型的优越性,为初始弯曲柔性梁在柔顺机构等中的应用打下了坚实的基础。

The trajectory and the corner of the initially curved flexible beam with the end subjected to forces are theoretically derived based on the Bernoulli-Euler equation.The theoretical calculation results are given with an example and are compared with the results of ANSYS simulation to verify the effectiveness of the theoretical model.The 3R pseudo rigid body model(PRBM)of straight beam is modified to simulate the end's trajectory and corner of the initial curved flexible beam.The theoretical results are compared with the results of the 3R PRBM and 1R PRBM of the initially curved flexible beam.And their relative errors are obtained to verify whether the two models of the pseudo rigid body could effectively simulate the end’s trajectory and the corner of the initially curved flexible beam with the end loaded force,which lays the foundation for the application of the initially curved flexible beam in compliant mechanisms.