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柔顺机构可存储和释放能量,根据其弹性变形的特性,设计科学合理的柔顺机构可以模拟动物关节的一些运动功能。以S型柔顺仿生足为例研究此类机构伪刚体建模方法。为了提高模型精度,将柔顺机构等效成弹性铰接多刚体系统,基于柔顺构件的几何形状和刚度分布提出综合曲率和刚度因素的柔顺段划分,优化出特征半径和等效关节扭簧常数的修正值。并建立了该机构的伪刚体模型,为进一步的力学分析、刚度特性研究提供了理论依据。
Compliant body can store and release energy, according to the characteristics of its elastic deformation, the design of scientific and rational compliant mechanism can simulate some of the motor joint movement. An example of the pseudo-rigid body modeling method of S-type flexible bionic legs is studied. In order to improve the accuracy of the model, the compliant mechanism is equivalent to a flexible articulated multi-rigid body system. Based on the geometry and stiffness distribution of the compliant members, the soft segment division of the integrated curvature and stiffness is proposed to optimize the correction of the characteristic radius and equivalent torsional spring constant value. The pseudo-rigid body model of the mechanism is established, which provides a theoretical basis for further mechanical analysis and stiffness characterization.