摘要
柔性铰链是柔性机构的关键组成部分,其运动精度和运动范围直接影响着柔性机构的性能。为了满足对柔性机构高柔度的要求,提出了一种椭圆导角混合型多轴柔性铰链,并通过有限元分析进行了验证。基于卡氏第二定理推导出了多轴柔性铰链柔度的计算公式。在参数变化的条件下,分别计算了演化而来的3种柔性铰链的通用公式。对比计算公式的解析解与有限元解,柔度和回转精度计算的最大误差在10%以内,验证了方程的准确性。进一步分析了柔性铰链结构参数对柔度和回转精度的影响,并对比了椭圆导角混合型多轴柔性铰链与直圆导角混合型多轴柔性铰链。结果表明:椭圆导角混合型多轴柔性铰链具有较大的柔度,且柔度及回转精度随参数的变化趋势相反。
The flexible hinge is a key component of the flexible mechanism,and its motion accuracy and range directly affect the mechanism performance.In this article,in order to ensure that the flexible mechanism has high flexibility,an elliptical guide angle multi-axis flexible hinge is proposed and verified through the finite-element analysis.Efforts are made to derive the formula of the multi-axis flexible hinge’s flexibility based on the second theorem of Karl Fischer.With the ever-changing parameters,the general formulas of three evolved flexible hinges are calculated separately.By comparing the formula’s analytical solution and finite-element solution,the maximum relative error of the flexible hinge’s flexibility and rotational accuracy is within 10%,which verifies that the formula is accurate.Further analysis is conducted on the influence of the flexible hinge’s structural parameters on its flexibility and rotational accuracy;a comparison is made between the elliptical guide angle multi-axis flexible hinge and straight circular guide angle multi-axis flexible hinge.The results indicate that the elliptical guide angle hybrid multi-axis flexible hinge has a higher standard of flexibility,and the changing trend of flexibility and rotational accuracy is opposite with the changes in parameters.
作者
徐壮
王传礼
解甜
张梦哲
罗刚
XU Zhuang;WANG Chuanli;XIE Tian;ZHANG Mengzhe;LUO Gang(School of Mechatronics Engineering,Anhui University of Science and Technology,Huainan 232001)
出处
《机械设计》
北大核心
2025年第7期88-97,共10页
Journal of Machine Design
基金
安徽省高校自然科学研究项目(KJ2021A0469)。
关键词
多轴柔性铰链
椭圆导角
柔度
结构参数
multi-axis flexible hinge
elliptical guide angle
compliance
structural parameter
作者简介
徐壮(2000—),男,硕士研究生,研究方向:精密驱动技术。E-mail:xzaust@163.com;通信作者:王传礼(1964—),男,教授,博士,研究方向:精密驱动技术﹑流体传动与控制技术等。E-mail:chlwangaust@163.com。
