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微夹钳柔顺机构用于将微驱动器输出的微小位移放大再传递给夹爪。设计并研究了一种基于单边和双边切口直圆柔性铰链的微夹钳柔顺机构,在实现微位移放大的同时能保证微夹钳夹爪平行移动。基于伪刚体模型法建立了微夹钳柔顺机构的运动学模型得到了输入力、输入位移与输出位移之间的关系,并对微夹钳柔顺机构的特性进行了有限元模拟与分析。研究结果表明理论模型的预测结果与有限元模拟结果一致。这将为夹爪平行移动的微夹钳柔顺机构的设计与控制提供了理论基础。
Micro-clamp compliant mechanism for the micro-drive output of the small displacement amplification and then passed to the jaws. A micro-clamp compliant mechanism based on single-sided and double-cut straight circular flexible hinges was designed and studied to ensure the parallel movement of micro-clamp jaws while achieving micro-displacement magnification. Based on the pseudo-rigid body model method, the kinematics model of the microgripper compliant mechanism was established. The relationship between input force, input displacement and output displacement was obtained. The characteristics of the microgripper compliant mechanism were simulated and analyzed by finite element method. The results show that the prediction results of the theoretical model are consistent with the results of finite element simulation. This will provide a theoretical basis for the design and control of the microgripper compliant mechanism with parallel movement of the jaws.