基于附加弹簧的摇杆滑块柔顺恒力机构设计

Design of Rocker Slider Compliant Constant-force Mechanism Based on Additional Spring

柔顺机构无运动副或者少运动副,无摩擦磨损,机构运动精度高,可实现机构系统的小型化和微型化设计,在微机电系统和精密仪器领域具有广泛的应用前景。柔顺恒力机构作为柔顺机构的一个重要分支具有零刚度特性,可用于易碎物体的抓取等。课题组基于附加弹簧的摇杆滑块机构,建立其伪刚体模型,利用虚功原理法推导出力与位移关系表达式,通过公式分析附加弹簧的摇杆滑块机构的力学特性,优选出机构的几何尺寸参数,实现机构的恒力特性。

Compliant mechanism has wide application prospect in the field of microelectromechanical system and precision instrument since it has no or less kinematic pairs, no friction wear, high kinematic accuracy, and can realize miniaturization and microaturization design of mechanism system. As an important branch of the compliant mechanism, the compliant constant-force mechanism can be used to grab fragile objects due to its zero-rigidity. Based on the rocker-slider mechanism with additional spring, this paper establishes its pseudo-rigid body model, deduces the relational expression between force and displacement by virtual work principle method, and optimizes the geometric dimension parameters of the mechanism by analyzing the mechanical characteristics of the rocker-slider mechanism with additional spring through the expression to realize the constant force.