Please wait a minute...
工程设计学报
工程设计学报  2016, Vol. 23 Issue (6): 585-591    DOI: 10.3785/j.issn.1006-754X.2016.06.010
建模、分析、优化和决策     
抗压内LET柔性铰链的建模及分析
刘凯1, 曹毅1,2,3, 周睿1, 丁锐1, 葛姝翌1
1. 江南大学 机械工程学院, 江苏 无锡 214122;
2. 哈尔滨工业大学 机器人技术与系统国家重点实验室, 黑龙江 哈尔滨 150080;
3. 江南大学 江苏省食品先进制造装备技术重点实验室, 江苏 无锡 214122
Modeling and analysis of compressive inside LET flexure hinge
LIU Kai1, CAO Yi1,2,3, ZHOU Rui1, DING Rui1, GE Shu-yi1
1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China;
3. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Jiangnan University, Wuxi 214122, China
 全文: PDF(813 KB)   HTML
摘要：

针对内LET（Lamina emergent torsion）柔性铰链存在轴向刚度低这一问题，基于倒置原则提出了一种抗压内LET柔性铰链.首先，综合考虑各柔顺片段的变形特点，设计了抗压内LET柔性铰链的结构；其次，利用等效弹簧刚度模型推导了该铰链的弯曲等效刚度及抗压等效刚度，并用有限元分析实例验证了2种理论计算模型的正确性；最后，将内LET柔性铰链和抗压内LET柔性铰链弯曲变形及压缩变形的有限元仿真结果进行比较.结果表明，在外形尺寸一致的情况下抗压内LET柔性铰链的弯曲刚度是内LET柔性铰链的1.195倍，而抗压刚度却是其24.532~28.141倍.在弯曲刚度无明显变化的前提下，抗压内LET柔性铰链的抗压刚度大幅提升，该铰链的结构设计完全符合预期要求.
关键词： 平面折展机构;  抗压内LET柔性铰链;  等效刚度;  有限元分析    
Abstract:

Based on the inversion principle, a new compressive inside LET flexure hinge is presented to improve the axial compressive stiffness of inside LET flexure hinge. Firstly, the structure of compressive inside LET flexure hinge was designed considering the deformation characteristics of compliant segments comprehensively. Secondly, the theoretical calculating models of the equivalent compressive stiffness and the equivalent bending stiffness for the compressive inside LET flexure hinge were set up respectively by using spring model. Meanwhile, correctness of two theoretical calculating models was validated by finite element analysis. Finally, the finite element simulation results were demonstrated by comparing the compression deflection and bending deflection of the compressive inside LET flexure hinge with that of the inside LET flexure hinge. The results showed that bending stiffness of the compressive inside LET flexure hinge was only 1.195 times of that for the inside LET flexure hinge, but the compressive stiffness was 24.532-28.141 times of that for inside LET flexure hinge. The compression stiffness of compressive inside LET flexure hinge is significantly increased in the case that the bending stiffness does not change obviously, which also proves the superiority and the reasoning of the design of the compressive inside LET flexure hinge.
Key words: LEMs    compressive inside LET flexure hinge    equivalent stiffness    finite element analysis
收稿日期: 2016-04-22 出版日期: 2016-12-28
CLC:  TH122  
基金资助:

国家自然科学基金资助项目（50905075）；教育部中央高校基本科研业务专项基金重点项目（JUSRP51316B）；江苏省“六大人才高峰”资助项目（ZBZZ-012）；机器人技术与系统国家重点实验室开放基金资助项目（SKLRS-2016-KF-06）.
通讯作者: 曹毅(1974-),男,安徽安庆人,教授,博士,从事柔顺机构、机器人技术等方面研究,E-mail:caoyi@jiangnan.edu.cn.http://orcid.org//0000-0002-5253-9900     E-mail: caoyi@jiangnan.edu.cn
作者简介: 刘凯(1991-),男,浙江舟山人,硕士生,从事柔顺机构研究,E-mail:kailiu10@163.com.
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　
刘凯
曹毅
周睿
丁锐
葛姝翌

引用本文:

刘凯, 曹毅, 周睿, 丁锐, 葛姝翌. 抗压内LET柔性铰链的建模及分析[J]. 工程设计学报, 2016, 23(6): 585-591.

LIU Kai, CAO Yi, ZHOU Rui, DING Rui, GE Shu-yi. Modeling and analysis of compressive inside LET flexure hinge. Chinese Journal of Engineering Design, 2016, 23(6): 585-591.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2016.06.010    或    https://www.zjujournals.com/gcsjxb/CN/Y2016/V23/I6/585

[1] HOWELL L L. Compliant mechanisms[M]. New York:John Wiley and Sons, 2001:1-30.
[2] 王雯静,余跃庆,王华伟. 柔顺机构国内外研究现状分析[J]. 机械设计,2007,24(6):1-4. WANG Wen-jing, YU Yue-qing, WANG Hua-wei. Analysis on the research status of compliant mechanism at home and abroad[J]. Journal of Machine Design, 2007, 24(6):1-4.
[3] 于靖军,郝广波,陈贵敏,等. 柔性机构及其应用研究进展[J]. 机械工程学报,2015,51(13):53-68. YU Jing-jun, HAO Guang-bo, CHEN Gui-min, et al. State-of-art of compliant mechanisms and their applications[J]. Journal of Mechanical Engineering, 2015, 51(13):53-68.
[4] ALBRECHTSEN N B, MAGLEBY S P, HOWELL L L. Identifying potential applications for lamina emergent mechanisms using technology push product development[C]//Proceeding of the ASME IDETC/CIE 2010. Montreal, Canada:ASME, 2010:513-521.
[5] WILDING S E, HOWELL L L, MAGLEBY S P. Spherical lamina emergent mechanisms[J]. Mechanism and Machine Theory, 2012, 49(3):187-197.
[6] GOLLNICK P S, MAGLEBY S P, HOWELL L L. An introduction to multilayer lamina emergent mechanisms[J]. Journal of Mechanical Design, 2011, 133(8):602-610.
[7] 楚红岩. 多层LEMs机构设计与分析[D]. 北京:北京科技大学机械工程学院,2012:39-71. CHU Hong-yan. Design and analysis of multi-layered lamina emergent mechanisms[D]. Beijing:University of Science and Technology Beijing, School of Mechanical Engineering, 2012:39-71.
[8] 邱丽芳,陈家兴,张九俏,等. 平面折展升降柔顺机构设计[J]. 农业机械学报,2015,46(10):370-375. QIU Li-fang, CHEN Jia-xing, ZHANG Jiu-qiao, et al. Design of lamina emergent elevator mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2015, 46(10):370-375.
[9] JACOBSEN J O, WINDER B G, HOWELL L L, et al. Lamina emergent mechanisms and their basic elements[J]. Journal of Mechanisms and Robotics, 2010, 2(1):298-320.
[10] JACOBSEN J O, CHEN G, HOWELL L L, et al. Lamina emergent torsional (LET) joint[J]. Mechanism and Machine Theory, 2009, 44(11):2098-2109.
[11] 韦志鸿. LET柔性铰链的参数化设计及分析[D]. 北京:北京科技大学机械工程学院,2012:39-52. WEI Zhi-hong. Parameter design and analysis of LET flexure hinge[D]. Beijing:University of Science and Technology Beijing, School of Mechanical Engineering, 2012:39-52.
[12] MAGLEBY S P, FERRELL D B, ISAAC Y F, et al. Development of criteria for lamina emergent mechanism flexures with specific application to metals[J]. Journal of Mechanical Design, 2011, 133(3):586-599.
[13] WILDING S E, HOWELL L L, MAGLEBY S P. Introduction of planar compliant joints designed for combined bending and axial loading conditions in lamina emergent mechanisms[J]. Mechanism and Machine Theory, 2012, 56(1):1-15.
[14] 邱丽芳,孟天祥,张九俏,等. 平面折展机构S形柔性铰链设计与试验[J]. 农业机械学报,2014, 45(9):323-328. QIU Li-fang, MENG Tian-xiang, ZHANG Jiu-qiao, et al. Design and test of lamina emergent mechanisms S-shaped flexure hinge[J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(9):323-328.
[15] 邱丽芳,孟天祥,张九俏,等. 梳齿形柔性铰链的设计与分析[J]. 东北大学学报(自然科学版),2014,35(9):1316-1320. QIU Li-fang, MENG Tian-xiang, ZHANG Jiu-qiao, et al. Design and analysis of comb-shaped flexure joint[J]. Journal of Northeastern University (Nature Science), 2014, 35(9):1316-1320.
[16] 邱丽芳,庞大千,陈家兴,等. S-LET复合型柔性铰链设计与性能研究[J]. 农业机械学报,2016,47(2):408-412. QIU Li-fang, PANG Da-qian, CHEN Jia-xing, et al. Design and performance analysis of lamina emergent mechanisms S-LET-shaped flexure Hinge[J]. Transactions of the Chinese Society for Agricultural Machinery, 2016, 47(2):408-412.
[17] ALEXANDRE E G, MAGLEBY S P, HOWELL L L, et al. Compliant joint design principles for high compressive load situations[J]. Journal of Mechanical Design, 2005, 127(4):774-781.
[18] CHEN G, HOWELL L L. Two general solutions of torsional compliance for variable rectangular cross-section hinges in compliant mechanisms[J]. Precision Engineering, 2009, 33(3):268-274.
[1] 孙光明,王奕苗,万仟,弓堃,汪文津,赵坚. 考虑装配变形的精密机床床身优化设计[J]. 工程设计学报, 2022, 29(3): 318-326.
[2] 丰飞,傅雨晨,范伟,马举. 三角混合两级杠杆微位移放大机构的设计及性能分析[J]. 工程设计学报, 2022, 29(2): 161-167.
[3] 陈洪月, 张站立, 吕掌权. 线性压缩机圆柱臂盘簧的设计及性能研究[J]. 工程设计学报, 2021, 28(4): 504-510.
[4] 王成军, 李帅. 三关节式软体驱动器的设计及其弯曲性能分析[J]. 工程设计学报, 2021, 28(2): 227-234.
[5] 周超, 秦瑞江, 芮晓明. 风载荷作用下V形绝缘子串的力学特性分析[J]. 工程设计学报, 2021, 28(1): 95-104.
[6] 黄伟, 徐建, 陆新征, 胡明祎, 廖文杰. 动力装备和建筑楼盖的动力吸振研究[J]. 工程设计学报, 2021, 28(1): 25-32.
[7] 周超, 王阳, 芮晓明. 500 kV输电线路跳线风偏有限元分析与试验研究[J]. 工程设计学报, 2020, 27(6): 713-719.
[8] 李成兵, 雷鹏. 5 000 m3立式拱顶储罐应力分析与弱顶性能评价[J]. 工程设计学报, 2020, 27(2): 182-190.
[9] 刘召, 由宏新, 孙亮, 杨玉玲, 刘华清. 大型球罐悬吊式液压传动回转检测平台设计[J]. 工程设计学报, 2019, 26(3): 267-273.
[10] 宋建虎. 某高轨星载数传天线的振动分析[J]. 工程设计学报, 2019, 26(3): 274-279.
[11] 高志来, 邱自学, 任东, 崔德友, 徐新朋. 桥式龙门铣床横梁结构设计与优化[J]. 工程设计学报, 2019, 26(1): 56-64.
[12] 骆燕燕, 武雄伟, 田亚超, 于长潮. 冲击环境下电连接器接触性能研究[J]. 工程设计学报, 2018, 25(1): 110-117.
[13] 张强, 吴泽光, 吴泽洋, 王海舰. 采煤机导向滑靴力学在线测试与分析[J]. 工程设计学报, 2017, 24(6): 694-701,716.
[14] 刘强, 王艾伦. 基于损伤力学的周向拉杆转子整体疲劳损伤研究[J]. 工程设计学报, 2017, 24(5): 572-579.
[15] 程明, 陈照波, KIM Kyongsol, 焦映厚. 多级蜿蜒磁路式磁流变阻尼器的设计与分析[J]. 工程设计学报, 2017, 24(3): 350-358.