一种外LET柔顺半铰的动力学建模与分析
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摘要
对一种外LET柔顺半铰进行建模与动力学特性分析。采用斜率不连续的绝对节点坐标法(ANCF)建立了该柔顺半铰系统动力学方程;对外力作用下半铰中心线和外轮廓的运动变形进行仿真,与实验结果对比,证明了绝对节点坐标法对柔顺半铰动力学建模的有效性;进一步分析了半铰外形尺寸变化对其变形规律的影响。
A model of a kind of half outside lamina emergent torsional(LET)compliant joints was set up and the dynamics characteristic analyses were carried out herein. The ANCF method with the slope discontinuity was used to derive the system dynamics equation of the LET compliant joints. Motion deformation of the center line and contour of the LET compliant joints applied external forces were simulated. Comparing experimental results with that of simulations, the effectiveness using ANCF to model a half outside LET compliant joints was proved. Furthermore, influence laws of contour dimensions to deformation of the compliant joints were analyzed.
A model of a kind of half outside lamina emergent torsional(LET)compliant joints was set up and the dynamics characteristic analyses were carried out herein. The ANCF method with the slope discontinuity was used to derive the system dynamics equation of the LET compliant joints. Motion deformation of the center line and contour of the LET compliant joints applied external forces were simulated. Comparing experimental results with that of simulations, the effectiveness using ANCF to model a half outside LET compliant joints was proved. Furthermore, influence laws of contour dimensions to deformation of the compliant joints were analyzed.
引文
[1] MAGLEBY S P,HOWELL L L,WINDER B G.A Study of Joints Suitable for Lamina Emergent Mechanisms[C]// ASME International Design Engineering Technical Conferences,Mechanisms & Robotics Conference.New York,2008:339-349.
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[4] 邱丽芳,楚红岩,杨德斌,等.多层LEMs 性能与结构参数的关系[J].北京科技大学学报,2014,36(3):383-389.QIU Lifang,CHU Hongyan,YANG Debin,et al.Relationship between Mechanism Performance and Structural Parameters of Multi-layered Lamina Emergent Mechanisms[J].Journal of University of Science and Technology Beijing,2014,36(3):383-389.
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[7] 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(56):1-15.
[8] HOWELL L L,OLSEN B M,MAGLEBY S P.Handbook of Compliant Mechanisms[M].New Jersey:John Wiley & Sons Inc,2013:6-7.
[9] 邱丽芳,楚红岩,杨德斌,等.基于伪刚体模型的多层LEMs建模与仿真[J].农业机械学报,2013,44(9):255-260.QIU Lifang,CHU Hongyan,YANG Debin,et al.Modeling and Simulation of Multi-layered Lamina Emergent Mechanisms Based on Pseudo-rigid-body[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(9):255-260.
[10] 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,2014,46(10):370-375.QIU Lifang,CHEN Jiaxing,ZHANG Jiuqiao,et al.Design of Lamina Emergent Elevator Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2014,46(10):370-375.
[11] YU Yueqing,FENG Zhonglei,XU Qiping.A Pseudo- rigid-body 2R Model of Flexural Beam in Compliant Mechanisms[J].Mechanism and Machine Theory,2012,55:18-33.
[12] SHABANA A A,YAKOUB R Y.Three Dimensional Absolute Nodal Coordinate Formulation for Beam Elements:Theory [J].ASME Journal of Mechanical Design,2001,123(4):606-613.
[13] YAKOUB R Y,SHABANA A A.Three Dimensional Absolute Nodal Coordinate Formulation for Beam Elements:Implementation and Applications[J].ASME Journal of Mechanical Design,2001,123(4):614-621.
[14] SHABANA A A,MIKKOLA A M.Use of the Finite Element Absolute Nodal Coordinate Formulation in Modeling Slope Discontinuity[J].ASME Journal of Mechanical Design,2003,125(2):342-350.
[15] OMAR M A,SHABANA A A,MIKKOLA A,et al.Multibody System Modeling of Leaf Springs[J].Journal of Vibration and Control,2004,10(11):1601-1638.
[16] SHABANA A A.Dynamics of Multibody Systems[M].New York:Cambridge University Press,2005:268-270.
[2] JOSEPH J O,CHEN G,HOWELL L L,et al.Lamina Emergent Torsional LET Joint[J].Mechanism and Machine Theory,2009,44(11):2098-2109.
[3] 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(56):1-15.
[4] 邱丽芳,楚红岩,杨德斌,等.多层LEMs 性能与结构参数的关系[J].北京科技大学学报,2014,36(3):383-389.QIU Lifang,CHU Hongyan,YANG Debin,et al.Relationship between Mechanism Performance and Structural Parameters of Multi-layered Lamina Emergent Mechanisms[J].Journal of University of Science and Technology Beijing,2014,36(3):383-389.
[5] LOBONTIU N,GARCIA E,HARDAU M,et al.Stiffness Characterization of Corner-filleted Flexure Hinges[J].Review of Scientific Instruments,2004,75(11):4896-4905.
[6] JACOBSEN J O,CHEN G,HOWELL L L,et al.Lamina Emergent Torsional (LET) Joint[J].Mechanism & Machine Theory,2009,44(11):2098-2109.
[7] 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(56):1-15.
[8] HOWELL L L,OLSEN B M,MAGLEBY S P.Handbook of Compliant Mechanisms[M].New Jersey:John Wiley & Sons Inc,2013:6-7.
[9] 邱丽芳,楚红岩,杨德斌,等.基于伪刚体模型的多层LEMs建模与仿真[J].农业机械学报,2013,44(9):255-260.QIU Lifang,CHU Hongyan,YANG Debin,et al.Modeling and Simulation of Multi-layered Lamina Emergent Mechanisms Based on Pseudo-rigid-body[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(9):255-260.
[10] 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,2014,46(10):370-375.QIU Lifang,CHEN Jiaxing,ZHANG Jiuqiao,et al.Design of Lamina Emergent Elevator Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2014,46(10):370-375.
[11] YU Yueqing,FENG Zhonglei,XU Qiping.A Pseudo- rigid-body 2R Model of Flexural Beam in Compliant Mechanisms[J].Mechanism and Machine Theory,2012,55:18-33.
[12] SHABANA A A,YAKOUB R Y.Three Dimensional Absolute Nodal Coordinate Formulation for Beam Elements:Theory [J].ASME Journal of Mechanical Design,2001,123(4):606-613.
[13] YAKOUB R Y,SHABANA A A.Three Dimensional Absolute Nodal Coordinate Formulation for Beam Elements:Implementation and Applications[J].ASME Journal of Mechanical Design,2001,123(4):614-621.
[14] SHABANA A A,MIKKOLA A M.Use of the Finite Element Absolute Nodal Coordinate Formulation in Modeling Slope Discontinuity[J].ASME Journal of Mechanical Design,2003,125(2):342-350.
[15] OMAR M A,SHABANA A A,MIKKOLA A,et al.Multibody System Modeling of Leaf Springs[J].Journal of Vibration and Control,2004,10(11):1601-1638.
[16] SHABANA A A.Dynamics of Multibody Systems[M].New York:Cambridge University Press,2005:268-270.