摘要
针对固定-导向模式的伪刚体模型模拟柔顺杆件末端位置精度不高且无法表现轴向变形的问题,基于伪刚体模型的原理提出了一种高精度的固定-导向1P2R伪刚体模型。首先综合考虑柔顺杆件各个方向的变形,构建了包含两个转动副和一个移动副的固定-导向1P2R伪刚体模型;其次建立了该模型的运动学方程,并根据优化算法求解了伪刚体模型的最优特征半径系数,利用一元线性回归方法得到了该模型的弹簧和扭簧刚度系数;最后通过数值算例模拟固定-导向1P2R模型末端的动作路径,并将其与固定-导向伪刚体模型及柔顺杆件的末端路径进行对比。结果表明,固定-导向1P2R伪刚体模型完全能够模拟相应柔顺杆件的末端动作过程,且模拟精度高于固定-导向伪刚体模型。研究证明了该模型的优越性,对柔顺机构的变形分析亦有重要参考意义。
Based on the principle of pseudo-rigid-body model（PRBM）, a new fixed-guided 1 P2 R PRBM is presented to improve the calculation accuracy for tip locus of the fixed-guided compliant links and express the axial deformation. Firstly, a fixed-guided PRBM with one prismatic pair and two revolute pairs is proposed considering deformations of a compliant mechanism omni-directionally. Secondly, the kinematics equation of the model is set up and the optimal characteristic radius coefficients are established using the optimization algorithm, meanwhile, the stiffness coefficient of the spring and the torsional spring is acquired respectively by the linear regression method. At last, numerical examples are demonstrated by comparing the tip locus of the fixed-guided 1 P2 R PRBM with that of the fixed-guided PRBM. Further research shows that the fixed-guided 1 P2 R PRBM can actually simulate the tip locus of the compliant mechanism, furthermore, the calculation accuracy is higher compared with that of the fixed-guided PRBM, which also proves the superiority of the 1 P2 R PRBM. The content of the paper paves underlying theoretical grounds for the deformation analysis for the compliant mechanisms.
出处
《机械设计》
CSCD
北大核心
2018年第2期28-33,共6页
Journal of Machine Design
基金
国家自然科学基金资助项目(50905075)
江苏省"六大人才高峰"资助项目(ZBZZ-012)
机械系统与振动国家重点实验室开放课题资助项目(MSV201712)
关键词
伪刚体模型
固定-导向柔顺杆件
线性回归
刚度系数
pseudo-rigid-body model
fixed-guided compliant link
linear regression
stiffness coefficient
