基于伪刚体模型的柔性铰链机构自由度分析  

Degree of freedom Analysis of Flexible Hinge Mechanism of Pseudo-rigid-body Model

作　　者：辛礼兵[1] 

机构地区：[1]安徽职业技术学院,安徽合肥230011

出　　处：《机械传动》2011年第8期78-80,共3页Journal of Mechanical Transmission

摘　　要：柔性机构经过20多年的发展,已成为现代机构学中的重要分支,并在精密工程、机器人等领域得到了广泛应用。柔性机构是一种利用材料的弹性变形来传递运动、力或能量的新型机构。由于柔性元素的引入,柔性机构中构件和运动副数目往往无法严格区分,导致其自由度和刚体机构的自由度不同,甚至带有一定的模糊性。基于伪刚体模型,给出了柔性机构的两种自由度定义和相关推论,进而分析了柔性铰链机构自由度的计算方法。Through the development in the past 20 years,the flexible mechanism has become a important branch of modern mechanisms and is widely applied in such fields as precision engineering and robotics.A flexible mechanism is a new mechanism which uses the elastic deformation of its flexible elements to transfer movement,force,or energy.The use of flexible members always makes it difficult to distinguish joints from links,which causes that the concept of degree of freedom for flexible mechanisms is different from that of rigid-body mechanisms.Based on Pseudo-rigid-body model,the definition of the two degree of freedom of a flexible mechanism and relevant corollaries are given,and calculation method of degree of freedom for flexible mechanism is analyzed.

关 键 词：自由度 伪刚体模型 柔性机构 柔性铰链 

分 类 号：TH112[机械工程—机械设计及理论]