Design and Research on Variable Thickness Flexure Hinge
-
摘要: 针对传统的直梁型柔性铰链转动精度低的缺点, 本文提出一种新型的变厚度柔性铰链, 使得该铰链的变形主要集中在铰链的中心位置, 以此提高柔性铰链的转动精度。为了研究变厚度柔性铰链, 首先列出变厚度柔性铰链的厚度公式, 然后以Euler-Bernoulli梁理论为基础, 搭建出变厚度柔性铰链的力学模型, 并通过牛顿迭代法进行具体数值求解, 为了验证力学模型的正确性, 将铰链模型导入有限元仿真软件ABAQUS中进行静力学仿真, 验证了力学模型的正确性; 基于力学模型与有限元仿真, 研究了变厚度柔性铰链的变形特性与圆弧半径r之间的关系, 通过分析结果表明, 变厚度柔性铰链相对传统的直梁型柔性铰链具有较大的转角范围和更小的中心轴漂n, 以本文提出的变厚度柔性铰链为基本单元, 搭建出具备大转角能力的柔性转动铰链, 为需要大转角、大承载能力的仿生关节的设计提供一定的理论参考。Abstract: The traditional straight beam flexure hinge often has low rotation accuracy, this paper presents a new type of flexible hinge with variable thickness, the new hinge deformation is mainly concentrated in the center of the hinge, so as to improve the rotational accuracy of the flexure hinge. Firstly, the thickness formula of variable thickness flexure hinge is listed. Then, based on Euler-Bernoulli beam theory, the mechanical model of variable thickness flexure hinge is established, and the numerical solution is carried out with Newton iteration method. In order to verify the correctness of the mechanical model, the hinge model is imported into the finite element simulation software ABAQUS for static simulation, and the correctness of the mechanical model is verified. Based on the mechanical model and finite element simulation, the relationship between the deformation characteristics of variable thickness flexure hinge and the arc radius r is studied. The results show that compared with the traditional straight beam flexure hinge, the variable thickness flexure hinge has larger angle range and smaller center axis drift n. Taking the variable thickness flexure hinge proposed in this paper as the basic unit, a flexible rotating hinge with large turning angle is built, which provides a theoretical reference for the design of bionic joint with large rotation angle and large bearing capacity.
-
Key words:
- flexible hinge /
- straight beam /
- variable thickness /
- central axis drift /
- Newton iterative method /
- bionic joint
-
[1] HOWELL L L. Compliant mechanisms[M]. New York: John Wiley & Sons, 2001 [2] YONG Y K, LU T F, HANDLEY D C. Review of circular flexure hinge design equations and derivation of empirical formulations[J]. Precision Engineering, 2008, 32(2): 63-70 doi: 10.1016/j.precisioneng.2007.05.002 [3] TIAN Y, SHIRINZADEH B, ZHANG D, et al. Three flexure hinges for compliant mechanism designs based on dimensionless graph analysis[J]. Precision Engineering, 2010, 34(1): 92-100 doi: 10.1016/j.precisioneng.2009.03.004 [4] LOBONTIU N. Compliance-based matrix method for modeling the quasi-static response of planar serial flexure-hinge mechanisms[J]. Precision Engineering, 2014, 38(3): 639-650 doi: 10.1016/j.precisioneng.2014.02.014 [5] BI S S, YAO Y B, ZHAO S S, et al. Modeling of cross-spring pivots subjected to generalized planar loads[J]. Chinese Journal of Mechanical Engineering, 2012, 25(6): 1075-1085 doi: 10.3901/CJME.2012.06.1075 [6] CHOI Y J, SREENIVASAN S V, CHOI B J. Kinematic design of large displacement precision XY positioning stage by using cross strip flexure joints and over-constrained mechanism[J]. Mechanism and Machine Theory, 2008, 43(6): 724-737 doi: 10.1016/j.mechmachtheory.2007.05.009 [7] JENSEN B D, HOWELL L L. The modeling of cross-axis flexural pivots[J]. Mechanism and Machine Theory, 2002, 37(5): 461-476 doi: 10.1016/S0094-114X(02)00007-1 [8] 杨淼, 杜志江, 陈依, 等. 变截面交叉簧片柔性铰链的力学建模与变形特性分析[J]. 机械工程学报, 2018, 54(13): 73-78 https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB201813008.htmYANG M, DU Z J, CHEN Y, et al. Static modelling and analysis of cross-spring flexure pivots with variable cross-section[J]. Journal of Mechanical Engineering, 2018, 54(13): 73-78 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB201813008.htm [9] 张志杰, 袁怡宝. 基于闭环柔度解析式的双曲线形柔性铰链研究[J]. 仪器仪表学报, 2007, 28(6): 1055-1059 doi: 10.3321/j.issn:0254-3087.2007.06.018ZHANG Z J, YUAN Y B. Research on half hyperbolic flexure hinge based on closed-form compliance equations[J]. Chinese Journal of Scientific Instrument, 2007, 28(6): 1055-1059 (in Chinese) doi: 10.3321/j.issn:0254-3087.2007.06.018 [10] 单祖辉, 阮孟光, 高镇同, 等. 材料力学教程[M]. 北京: 国防工业大学出版社, 2016SHAN Z H, RUAN M G, GAO Z T, et al. Material mechanics course[M]. Beijing: National Defense University of Technology Press, 2016 (in Chinese) [11] VALENTINI P P, PENNESTRÌ E. Elasto-kinematic comparison of flexure hinges undergoing large displacement[J]. Mechanism and Machine Theory, 2017, 110: 50-60 doi: 10.1016/j.mechmachtheory.2016.12.006 [12] 陈贵敏, 马付雷, 勾燕洁, 等. 一种零轴漂大转角交叉簧片式柔性铰链: 中国, 201610084090.6[P]. 2016-05-25CHEN G M, MA F L, GOU Y J, et al. Zero-pivot and large-corner crossed reed type flexible hinge: CN, 201610084090.6[P]. 2016-05-25 (in Chinese) [13] 房立金, 高瑞. 一般6R机器人逆运动学算法的改进[J]. 机械科学与技术, 2018, 37(9): 1325-1330 doi: 10.13433/j.cnki.1003-8728.20180026FANG L J, GAO R. Improving inverse kinematics algorithm for general 6-DOF robots[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(9): 1325-1330 (in Chinese) doi: 10.13433/j.cnki.1003-8728.20180026 [14] 赵宏哲, 毕树生, 于靖军. 三角形柔性铰链的建模与分析[J]. 机械工程学报, 2009, 45(8): 1-5 https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB200908003.htmZHAO H Z, BI S S, YU J J. Modeling and analysis of triangle flexible hinge[J]. Journal of Mechanical Engineering, 2009, 45(8): 1-5 (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-JXXB200908003.htm [15] HALVERSON P A, HOWELL L L, BOWDEN A E. A flexure-based bi-axial contact-aided compliant mechanism for spinal arthroplasty[C]//ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Brooklyn: ASME, 2008: 405-416 [16] 姜博伟. 大转角小轴漂全柔顺柔性铰链的设计[D]. 西安: 西安电子科技大学, 2018JIANG B W. Design of a fully-compliant hinge with large rotation angel and small axis drift of Xidian University[D]. Xi'an: Xidian University, 2018 (in Chinese) -
下载:
点击查看大图
图(14) / 表(1)
计量
- 文章访问数: 121
- HTML全文浏览量: 102
- PDF下载量: 55
- 被引次数: 0
