Large Deformation Analysis and Strength Calculation of Plate Spring with Flexible Joint under Varying Load
-
摘要: 提出一种由气缸驱动的柔性机械手关节,关节采用板弹簧作为骨架。板弹簧的变形等效于自由端受特殊变载荷作用的弹性悬臂梁的大变形,其特殊变载荷是一个方向和大小都随气缸压力而变化的载荷。建立了悬臂梁静态变形的微分方程,采用简单的微分计算方法得出不同气缸压力下板弹簧任意位置的变形倾角、变形位移及应力的数值解。绘制其变形曲线和应力曲线,分析板弹簧的变形和应力分布情况,并校核了板弹簧最大应力处的强度。Abstract: This paper presented a flexible manipulator joint driven by air cylinder,using plate spring as the frame-work. The deformation of the plate spring was equivalent to the large deformation of a elastic cantilever beam actedon cantilevered end by special varying load,whose magnitude and direction varied with the cylinder pressure. Stat-ic model of the cantilever beam bend was built and its differential equation was given. Numerical solutions to platespring's flexion angle,deformation displacement and stress under various pressures were calculated by solving thedifferential equation. Moreover,the deformation curve and stress curve were drawn,and the distribution of themwas analyzed. The maximum stress was got and checked.
-
Key words:
- cantilever beam /
- large deformation /
- varying load /
- strength
-
[1] 章军. 六关节三指苹果抓取机械手的自适应柔性分析[J]. 农业工程学报,2010,26(1):140～144 [2] 班自愿,张若京. 悬臂梁大变形的向量式有限元分析[J]. 计算机辅助工程,2010,19(4):25～33 [3] Pai P F,Palazotto A N. Large-deformation analysis of flexiblebeams[J]. International Journal of Solids and Structures,1996,33(9):1335～1353 [4] Liu J Y,Hong J Z. Nonlinear formulation for flexible multibodysystem with large deformation[J]. Acta Mechanica Sinica,2007,23:111～119 [5] Howell L L,余跃庆译. 柔顺机构学[M]. 北京:高等教育出版社,2007 [6] 李海燕等. 大变形柔顺机构的驱动特性研究[J]. 机械科学与技术,2004,23(9):1040～1043 [7] Banerjee A,Bhattacharya B,Mallik A K. Large deformation ofcantilever beams with geometric non-linearity: analytical and nu-merical approaches[J]. International Journal of Non-linearMechanics,2008,43(5):366～376 [8] Weizang C. Second order approximation solution of nonlinear largedeformation problem of Yongjiang Railway Bridge in Ningbo[J].Applied Mathematics and Mechanics,2002,23(5):493～506 [9] He X T,Chen S L. Biparametric perturbation solutions of largedeformation problem of cantilever beams[J]. Applied Mathe-matics and Mechanics,2006,27(4):453～460 [10] Zhang J,Zhang Q J. Bending of flexble joint driven by linear ex-pandable artificial muscle[J]. International Journal of Model-ling and Simulation,2011,(1):1～5 [11] 黄选剑,章军. 柔性关节板弹簧骨架大扰度变形的数值计算方法[J]. 机械设计与制造,2010,(2):46～48 [12] 郝亚娟,白象忠. 弹性梁式薄板在横向绕流中的大变形[J].应用力学学报,2009,26(2):304～307 [13] 占学红,董志航,王宏伟. 有限单元接触算法在板弹簧设计计算中的应用[J]. 机械工程师,2007,(7):54～55 -
点击查看大图
计量
- 文章访问数: 175
- HTML全文浏览量: 38
- PDF下载量: 4
- 被引次数: 0
下载:
