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柔性铰链是一种被广泛用于微动机器人的主要构件 ,其运动变形精度直接影响微动机器人的终端定位和操作的控制。由于传统理论方法无法准确分析特殊几何结构柔性铰链的精度性能 ,因此采用有限元技术对 3种典型柔性铰运动变形进行了系统的研究 ,并将模拟结果与传统理论的分析结果进行了比较 ,分析了在加载条件下不同几何参数对 3种柔性铰功能方向和非功能方向精度性能的影响 ,给出特殊情况下柔性铰优化设计的准则
Flexible hinge is a widely used micro-robot’s main components, the deformation accuracy of its direct impact on the micro-robot’s terminal positioning and operation control. Due to the inaccurate analysis of the precision performance of flexible hinges with special geometrical structures by traditional theoretical methods, the finite element method is used to systematically study the motion deformation of three typical flexible hinges. The simulation results are compared with the traditional theoretical analysis results. The influence of different geometrical parameters on the functional direction and non-functional directional accuracy of the three kinds of flexible hinges under the loading conditions is given, and the guidelines for the optimal design of flexible hinges in special situations are given