二自由度柔性铰链六杆机构的设计与分析  

Design and Analysis for 2-DOF Flexible Hinge Six-bar Mechanism

作　　者：罗维[1] 李瑞琴[1] 刘伟杰[1] 

机构地区：[1]中北大学机械工程与自动化学院,山西太原030051

出　　处：《机械传动》2012年第3期35-39,共5页Journal of Mechanical Transmission

基　　金：山西省自然科学基金资助项目(2010011036-1)

摘　　要：柔性机构应用越来越广泛,且在很多机械系统中能有效替代某些刚性机构,从而使整个机械系统达到刚柔并济的目的。在研究混合驱动机构和柔性四杆、五杆机构的基础上,对混合驱动六杆机构进行变型设计。首先利用虚功原理建立二自由度柔性铰链六杆机构的伪刚体模型,得出该机构的伪刚体模型的普遍公式。同时,建立了该机构的拟柔性模型,并得出了拟柔性模型的普遍公式。然后对二自由度柔性铰链六杆机构进行了仿真,得出相关数据,建立了相关转角之间的函数关系。并在普遍公式的基础上解出在施加不同载荷下的二自由度柔性铰链六杆机构驱动杆转角的理论值。最后对仿真值与理论值进行了对比分析,证明了理论推导过程的正确性。The application of flexible mechanism is more and more extensive, and it is used effective instead of rigid mechanism in some mechanical system, and it makes the whole mechanical system to achieve the purpose of hard- ness with softness. The variant design of hybrid - driven six - bar mechanism is carried out on the basic of studying hybrid driven six - bar mechanism and flexible four - bar and five - bar mechanism. Firstly, pseudo - rigid body mod- el of 2 - DOF flexible hinge six - bar mechanism is established based on principle of virtual work, and the universal formula of pseudo - rigid body model to this mechanism is deduced. At the same time, imitate flexible model of this mechanism is also established, and the universal formula of imitate flexible model to this mechanism is deduced too. Then the simulation on 2- DOF flexible hinge six - bar mechanism is carried out, and related data is obtained, the function relationship of related rotation angle is established. The theoretical value of rotation angle for the link - 2 of 2 - DOF flexible hinge six - bar mechanism which under the condition of being imposed different loads on the basic of universal formula is solved. Finally, the simulation values and theoretical values are compared to prove the correctness of the theoretical derivation.

关 键 词：二自由度 柔性铰链 伪刚体模型 拟柔性模型 

分 类 号：TH112[机械工程—机械设计及理论]