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以材料力学和微积分的相关知识为基础,推导了四种复合型柔性铰链的弯曲刚度和拉伸/压缩刚度计算公式。以倒圆角直梁型柔性铰链为例,基于有限单元法验证所推导刚度计算公式的正确性。采用解析法对四种复合型柔性铰链的刚度性能进行对比分析。结果表明,椭圆直梁复合型柔性铰链的弯曲刚度和拉伸刚度最小;分别将其应用于柔性T型联结节结构中,采用有限单元法对各柔性T型联结节的刚度性能进行对比分析,结果表明,由椭圆直梁复合型柔性铰链构成的柔性T型联结节的变形补偿能力最强。
Based on the related knowledge of material mechanics and calculus, the formulas for calculating the flexural rigidity and tensile / compressive stiffness of four composite flexible hinges are derived. Taking the fillet straight beam type flexible hinge as an example, the correctness of the calculated stiffness formula is verified based on the finite element method. The analytical method was used to compare the stiffness performance of the four composite flexible hinges. The results show that the flexural rigidity and tensile rigidity of the elliptical straight beam composite flexible hinge are the least. The stiffness of the flexible T-joints is compared with that of the flexible T-joint structure by the finite element method The results show that the flexural T joint with the elliptical straight beam composite flexible hinge has the strongest deformation compensation ability.