一种微夹钳柔顺机构的设计与分析  

Design and Analysis of a Microgripper Compliant Mechanism

作　　者：杨群[1] 靳保民[1] 徐晓晖[1] 

机构地区：[1]中国船舶重工集团公司第七一八研究所,河北邯郸056027

出　　处：《舰船防化》2012年第1期15-20,共6页

摘　　要：微夹钳柔顺机构用于将微驱动器输出的微小位移放大再传递给夹爪。设计并研究了一种基于单边和双边切口直圆柔性铰链的微夹钳柔顺机构,在实现微位移放大的同时能保证微夹钳夹爪平行移动。基于伪刚体模型法建立了微夹钳柔顺机构的运动学模型得到了输入力、输入位移与输出位移之间的关系,并对微夹钳柔顺机构的特性进行了有限元模拟与分析。研究结果表明理论模型的预测结果与有限元模拟结果一致。这将为夹爪平行移动的微夹钳柔顺机构的设计与控制提供了理论基础。The compliant mechanisms are often used to amplify and transfer the micro-actuator s displacement to the gripping jaws. In this paper, utilizing single-notch right-circular flexure hinges and double-notch right-circular flexure hinges, a microgripper compliant mechanism is designed and researched, which is used to amplify and transfer the displacement of the micro-actuator and to realize the parallel movement of gripping jaws. The kinematic model and the relationship between the input force, input displacement and the output displacement of the compliant mechanism for microgrippers are established with the pseudo-rigid-body-model （PRBM） method. The characteristics of the developed compliant mechanism are also modeled and analyzed with finite element method （FEM）. The research results show that the characteristics of the compliant mechanism for microgrippers predicted by the established theoretical models are consistent with those predicted with FEM. The research works will establish a theoretical foundation for the design and control of the microgripper compliant mechanisms with parallel movement of gripping jaws.

关 键 词：柔顺机构 柔性铰链 微夹钳 伪刚体模型 有限元分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]