椭圆导角混合柔性铰链的设计计算与性能分析  

Design Calculation and Performance Analysis of Elliptical Corner-filleted Hybrid Flexure Hinges

作　　者：王传礼[1,2,3] 李成 何涛 陈国瑜[1,3] WANG Chuanli;LI Cheng;HE Tao;CHEN Guoyu(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan,Anhui,232001;Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment,China University of Mining and Technology,Xuzhou,Jiangsu,221116;Anhui Key Laboratory of Mine Intelligent Equipment and Technology,Anhui University of Science and Technology,Huainan,Anhui,232001)

机构地区：[1]安徽理工大学机械工程学院,淮南232001 [2]中国矿业大学江苏省矿山机电装备重点实验室,徐州221116 [3]安徽理工大学矿山智能装备与技术安徽省重点实验室,淮南232001

出　　处：《中国机械工程》2021年第9期1017-1026,共10页China Mechanical Engineering

基　　金：国家自然科学基金(51675003);安徽省自然科学基金(2008085QE216);安徽省高校自然科学研究项目(KJ2018A0078);江苏省矿山机电装备重点实验室开放基金(JSKL-MMEE-2018-4);安徽省学术和技术带头人科研活动经费(2019D215);安徽理工大学研究生创新基金(2019CX2035)。

摘　　要：为满足柔顺机构的大柔度要求,设计了一类新型椭圆导角混合柔性铰链。首先,以卡氏第二定理为基础推导了柔度和回转精度的计算公式,在参数的极限条件下,椭圆导角结构演化出其他三种铰链形式:直圆导角、椭圆直圆和直圆柔性铰链,使得多种柔性铰链的柔度和回转精度的计算公式合并在一组方程中,通过有限元分析验证了计算公式的正确性。其次,讨论了结构参数对柔度、回转精度和柔度精度比的影响趋势,分析结果表明,柔度与回转精度随参数的变化趋势具有相反性,且减小最小厚度是提高柔度的最佳方式。再次,比较了所提四种柔性铰链的性能,椭圆导角混合柔性铰链具有最大的柔度但回转精度较低,而直圆柔性铰链具有较高的回转精度且综合性能也较优越,但柔度最小。最后,对椭圆导角和直圆柔性铰链进行了应用研究,研究结果表明,椭圆导角混合柔性铰链在回转能力和应力水平方面具有显著优势。In order to meet the large compliance requirements of compliant mechanisms,a new type of elliptical corner-filleted flexure hinge was designed.Firstly,the formulas of compliance and rotation accuracy were derived on the basis of the Castigliano's second theorem.Under the limit condition of parameters,the structure of elliptical corner-filleted evolved into three other hinge forms:right circular corner-filleted,elliptical right circular and right circular flexure hinge.The calculation formulas of compliance and rotation accuracy of various flexure hinges were combined in a set of equations.The correctness of the calculation formula was verified by the finite element analysis.Secondly,the influence trend of structural parameters on compliance,rotation accuracy and compliance accuracy ratio was discussed.The analysis results show that compliance and rotation accuracy have the opposite trend with the change of parameters,and reducing the minimum thickness is the best way to improve compliance.Then,the performances of four kinds of flexure hinges were compared.The results show that the elliptical corner-filleted hybrid flexure hinge has the maximum compliance but low rotation accuracy,while the right circular flexure hinge has the high rotation accuracy and superior comprehensive performance,but the minimum compliance.Finally,the examples of the elliptical corner-filleted and the right circular flexure hinge were applied and analyzed.The analysis results show that the novel flexure hinge has significant advantages in rotation range and stress level.

关 键 词：柔性铰链 椭圆导角 柔度 回转精度 有限元分析 

分 类 号：TP122[自动化与计算机技术—控制理论与控制工程]