PRR伪刚体模型及其在柔性机构运动分析中的应用  

PRR Pseudo-Rigid-Body Model and its Application in Kinematic Analysis of Compliant Mechanisms

作　　者：任晓智[1] 薄瑞峰[2] 路建鹏 REN Xiao—zhi;BO Rui-feng;LU Jian—peng(School of Mechanical Engineering,Guangxi University,Guangxi Nanning 530004,China;School of Mechanical Engineering,North University of China,Shanxi Taiyuan 030051,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004 [2]中北大学机械工程学院,山西太原030051

出　　处：《机械设计与制造》2022年第7期48-51,58,共5页Machinery Design & Manufacture

基　　金：广西制造系统与先进制造技术重点实验室基金项目—甘蔗收割机切割系统虚拟实验研究(16-380-12S007)。

摘　　要：在1R和PR模型的基础上,兼顾柔性悬臂梁的横向变形和轴向变形,通过对其特征参数的描述建立一种具有三自由度的PRR伪刚体模型,然后应用在柔性机构的运动分析中。分别针对大变形柔性曲柄滑块机构和四杆机构,利用PRR伪刚体模型进行机构建模。按照刚性机构基本原理,采用伪刚体模型法进行力/变形分析得出滑块位置坐标随曲柄转角的变化关系图,并与椭圆积分得到的关系图进行比较。采用伪刚体模型法进行运动分析得出柔性四杆机构的位姿变化图,并与有限元法得到的位姿图进行比较。计算结果均非常接近,从而证明了该模型在柔性机构运动分析中的有效性和简便性。On basis of 1R and PR model,PRR pseudo-rigid-body model of compliant bar is presented with 3 degrees of freedom and the given characteristic parameters,fully considering the impacts of axial deformation and lateral deformation.Then this model is applied in kinematic analysis of compliant mechanisms.Aiming at compliant crank slider mechanism and four-bar linkage,the corresponding pseudo-rigid-body models are respectively built using PRR model proposed.According to the principle of rigid mechanism,through the force-displacement analysis,the relation graph of slider displacement and crank angle is obtained in comparison with that obtained by elliptic integral.Through the pseudo rigid body model method,the position variation graph of compliant four-bar linkage is obtained in comparison with that obtained by finite element analysis method.The two simulation results are very close,which indicates the effectiveness and simplicity of PRR pseudo-rigid-body model in kinematic analysis of compliant mechanisms.

关 键 词：PRR伪刚体模型 柔性曲柄滑块机构 柔性四杆机构 力-变形分析 

分 类 号：TH16[机械工程—机械制造及自动化] TH124