基于动态等效刚度的平面柔性铰链建模与分析
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摘要
提出一种能够实现虎克铰功能的平面柔性铰链。在分析平面柔性铰链自由度的基础上扩展铰链的运动形式,对铰链的两种位姿建立一种动态等效刚度计算的理论模型,借助Gauss拟合探究大变形位姿下刚度的非线性变化规律,并在有限元平台上验证了模型的正确性。根据理论模型对铰链整体的刚度变化特点进行了分析,探讨了铰链的性能特性。最后将该平面柔性铰链引入6DOF并联隔振平台,采用ADAMS、ANSYS联合仿真对所建新平台进行刚柔耦合动力学分析。结果表明,该平面柔性铰链在满足虎克铰运动要求的同时还能够有效避免虎克铰间隙引起的振动传递率突变问题。
Here, a planar flexible hinge was proposed to realize functions of Hook hinge. Based on the analysis of DOFs of this flexible hinge, its motion forms were extended. The theoretical model to calculate its dynamic equivalent stiffness was established for two poses of the hinge. The nonlinear variation law of the stiffness under large deformation pose was explored with Gaussian fitting method. The correctness of the model was verified on the finite element platform. According to the theoretical model, variation features of the whole hinge stiffness were analyzed, and the hinge performance characteristics were explored. Finally, the planar flexible hinge was introduced into a 6-DOF parallel vibration isolation platform. The rigid-flexible coupled dynamic analysis of the new platform was conducted using ADAMS and ANSYS combined simulation. The results showed that the proposed planar flexible hinge can meet requirements of Hooke hinge motions, and at the same time it can effectively avoid abrupt change problems of the vibration transmissibility caused by Hooke hinge gap.
Here, a planar flexible hinge was proposed to realize functions of Hook hinge. Based on the analysis of DOFs of this flexible hinge, its motion forms were extended. The theoretical model to calculate its dynamic equivalent stiffness was established for two poses of the hinge. The nonlinear variation law of the stiffness under large deformation pose was explored with Gaussian fitting method. The correctness of the model was verified on the finite element platform. According to the theoretical model, variation features of the whole hinge stiffness were analyzed, and the hinge performance characteristics were explored. Finally, the planar flexible hinge was introduced into a 6-DOF parallel vibration isolation platform. The rigid-flexible coupled dynamic analysis of the new platform was conducted using ADAMS and ANSYS combined simulation. The results showed that the proposed planar flexible hinge can meet requirements of Hooke hinge motions, and at the same time it can effectively avoid abrupt change problems of the vibration transmissibility caused by Hooke hinge gap.
引文
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[13] 邱丽芳,韦志鸿,徐金梧.新型平面折展机构柔性铰链等效刚度分析[J].机械工程学报,2014,50(17):25-30.QIU Lifang,WEI Zhihong,XU Jinwu.Analysis of equivalent stiffness of new LEMs flexure hinge[J].Journal of Mechanical Engineering,2014,50(17):25-30.
[14] QIU L F,YIN S Q,XIE Z T.Failure analysis and performance comparison of Triple-LET and LET flexure hinges[J].Engineering Failure Analysis,2016,66:35-43.
[15] YU J J,LI S Z,PEI X,et al.A unified approach to type synthesis of both rigid and flexure parallel mechanisms[J].Science China Technological Sciences,2011,54(5):1206-1219.
[16] WU Z J,JING X J,SUN B,et al.A 6DOF passive vibration isolator using X-shape supporting structures[J].Journal of Sound & Vibration,2016,380:90-111.
[2] HOWELL L L.Compliant mechanisms[M].John Wiley & Sons,2001.
[3] FOWLER R M,MASELLI A,PLUIMERS P,et al.Flex-16:A large-displacement monolithic compliant rotational hinge[J].Mechanism & Machine Theory,2014,82(24):203-217.
[4] 郑洋洋,宫金良,张彦斐.基于传递矩阵法的柔性杠杆放大机构刚度分析[J].北京航空航天大学学报,2017,43(4):849-856.ZHENG Yangyang,GONG Jinliang,ZHANG Yanfei.Stiffness analysis of a flexible lever magnifying mechanism based on transfer matrix method[J].Journal of Beijing University of Aeronautics and Astronautics,2017,43(4):849-856.
[5] SATPAL S B,DATTA R,CHATURVEDI V,et al.Design and experimentation on passive vibration isolation systems using PZT- PDMS composite and a shape memory alloy wire integrated mechanism[J].Ifac Proceedings Volumes,2014,47(1):981-988.
[6] 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 Jingjun,HAO Guangbo,CHEN Guimin,et al.State-of-art of compliant mechanisms and their applications[J] .Journal of Mechanical Engineering,2015,51(13):53-68.
[7] 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.
[8] RAD F P,BERSELLI G,VERTECHY R,et al.Design and stiffness analysis of a compliant spherical chain with three degrees of freedom[J].Precision Engineering,2017,47:1-9.
[9] RAD F P,VERTECHY R,BERSELLI G,et al.Analytical compliance analysis and finite element verification of spherical flexure hinges for spatial compliant mechanisms[J].Mechanism & Machine Theory,2016,101:168-180.
[10] LIU M,ZHANG X M,FATIKOW S.Design and analysis of a multi-notched flexure hinge for compliant mechanisms[J].Precision Engineering,2017,48:292-304.
[11] MAGLEBY S P,ALBRECHTSEN N B,HOWELL L L.Identifying potential applications for lamina emergent mechanisms using technology push product development[C]// ASME International Design Engineering Technical Conferences.2010:513-521.
[12] 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 & Machine Theory,2012,56(56):1-15.
[13] 邱丽芳,韦志鸿,徐金梧.新型平面折展机构柔性铰链等效刚度分析[J].机械工程学报,2014,50(17):25-30.QIU Lifang,WEI Zhihong,XU Jinwu.Analysis of equivalent stiffness of new LEMs flexure hinge[J].Journal of Mechanical Engineering,2014,50(17):25-30.
[14] QIU L F,YIN S Q,XIE Z T.Failure analysis and performance comparison of Triple-LET and LET flexure hinges[J].Engineering Failure Analysis,2016,66:35-43.
[15] YU J J,LI S Z,PEI X,et al.A unified approach to type synthesis of both rigid and flexure parallel mechanisms[J].Science China Technological Sciences,2011,54(5):1206-1219.
[16] WU Z J,JING X J,SUN B,et al.A 6DOF passive vibration isolator using X-shape supporting structures[J].Journal of Sound & Vibration,2016,380:90-111.