附加弹簧平面组合机构多稳态特性设计与分析  

Design and Analysis of Multi-Stable Characteristics of Planar Combination Mechanisms with Additional Springs

作　　者：李保坤[1,2] 赵伟 李琳 陶珍钰 LI Baokun;ZHAO Wei;LI Lin;TAO Zhenyu(College of Mechanical Engineering,Anhui University of Technology,Huainan Anhui 200240,China;Guangxi Key Laboratory of Manufacturing Systems and Advanced Manufacturing Technology,Nanning 530004,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001 [2]广西制造系统与先进制造技术重点实验室,广西南宁530004

出　　处：《兰州工业学院学报》2025年第2期67-72,共6页Journal of Lanzhou Institute of Technology

基　　金：国家自然科学基金资助项目(U21A20122);安徽理工大学医学专向培育项目(YZ2023H2A003);广西制造系统与先进制造技术重点实验室开放资金资助项目(23354S013)。

摘　　要：提出了一种利用附加弹簧的组合平面机构获得多稳态特性的通用方法。在平面闭环机构存在的情况下,利用机构奇异性进行多稳态设计。不同于传统的对闭环机构奇点避免的研究,首先确定机构能够出现奇异点的条件,分析机构奇异点对应的势能状态,从而方便地确定稳定位置的个数(最多4个);利用虚功原理建立组合机构的动静态模型,分析几何参数和弹簧刚度对机构稳态数目的影响。结果表明机构出现多稳态性能时其中某段具有趋于接近恒力的特性,为设计出具有多稳态特性的恒力机构提供参考。A general method for obtaining multistable characteristics of combined planar mechanisms using additional springs is proposed.In the presence of planar closed-loop mechanisms,the mechanism singularity is utilised for multistability design.The study in this paper differs from the traditional study of singularity avoidance in closed-loop mechanisms,the conditions for the singularity to appear in the mechanism are first determined,and the potential energy states corresponding to the mechanism singularities are analyzed,so that the number of stable positions(up to 4)can be easily determined.A dynamic-static model of the combined mechanism is developed by using the principle of virtual work,and the effects of geometric parameters and spring stiffness on the number of steady states of the mechanism are analyzed.It is found that when the mechanism has multi-stable performance,one of the segments has the property of tending to approach the constant force,which provides a reference for the design of a constant force mechanism with multi-stable characteristics.

关 键 词：多稳态特性 机构奇异性 虚功原理 动静态模型 

分 类 号：TH122[机械工程—机械设计及理论]