嵌套余弦函数型多轴柔性铰链的设计与分析
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徐美娟,汪启亮,洪永烽,龙益平,刘通,郭彬
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Design and analysis of nested cosine function type multi-axis flexure hinge
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Meijuan XU,Qiliang WANG,Yongfeng HONG,Yiping LONG,Tong LIU,Bin GUO
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| 表2 柔性铰链柔度和精度的理论值与仿真值比较 |
| Table 2 Comparison of theoretical and simulated values of compliance and precision of flexure hinges |
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| 组别 | 对比项 | Cx1, Fx / (m·N-1) | Cy1, Mz /N-1 | Cθz, Mz /(N-1·m-1) | Cy1, Fy / (m·N-1) | Cθz, Fy /N-1 | Cx2, Fx / (m·N-1) | Cy2, Mz /N-1 | Cy2, Fy / (m·N-1) |
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| 1 | 理论值 | 8.065×10-8 | 5.013×10-3 | 1.002 | 2.671×10-5 | 5.013×10-3 | 4.037×10-8 | 4.894×10-4 | 3.259×10-6 | | 仿真值 | 8.326×10-8 | 5.116×10-3 | 1.023 | 2.730×10-5 | 5.117×10-3 | 4.192×10-8 | 5.083×10-4 | 3.403×10-6 | | 相对误差/% | 3.13 | 2.01 | 2.05 | 2.16 | 2.03 | 3.70 | 3.72 | 4.23 | | 2 | 理论值 | 7.567×10-8 | 4.720×10-3 | 0.943 | 2.499×10-5 | 4.720×10-3 | 3.788×10-8 | 4.326×10-4 | 2.846×10-6 | | 仿真值 | 7.904×10-8 | 4.832×10-3 | 0.967 | 2.561×10-5 | 4.833×10-3 | 3.986×10-8 | 4.510×10-4 | 2.983×10-6 | | 相对误差/% | 4.26 | 2.32 | 2.48 | 2.42 | 2.34 | 4.97 | 4.08 | 4.59 | | 3 | 理论值 | 9.678×10-8 | 7.219×10-3 | 1.202 | 4.604×10-5 | 7.219×10-3 | 4.844×10-8 | 7.048×10-4 | 5.575×10-6 | | 仿真值 | 9.912×10-8 | 7.322×10-3 | 1.220 | 4.674×10-5 | 7.322×10-3 | 4.982×10-8 | 7.237×10-4 | 5.749×10-6 | | 相对误差/% | 2.36 | 1.41 | 1.48 | 1.50 | 1.41 | 2.77 | 2.61 | 3.03 | | 4 | 理论值 | 1.182×10-7 | 1.152×10-2 | 2.302 | 6.082×10-5 | 1.152×10-2 | 5.918×10-8 | 1.056×10-3 | 6.859×10-6 | | 仿真值 | 1.222×10-7 | 1.170×10-2 | 2.339 | 6.178×10-5 | 1.170×10-2 | 6.133×10-8 | 1.085×10-3 | 7.080×10-6 | | 相对误差/% | 4.89 | 1.54 | 1.58 | 1.55 | 1.54 | 3.51 | 2.67 | 3.12 |
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