柔性桥式微位移机构位移放大比特性研究

摘要
图/表
参考文献
相关文章 (9)

全文: PDF (1578 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
叶果, 李威, 王禹桥, 杨雪锋, 余凌. 柔性桥式微位移机构位移放大比特性研究[J]. 机器人, 2011, 33(2): 251-256.. YE Guo, LI Wei, WANG Yuqiao, YANG Xuefeng, YU Ling. Analysis on Displacement Amplification Ratio of a Flexible Bridge-Type Micro-Displacement Mechanism. ROBOT, 2011, 33(2): 251-256..

摘要为了分析柔性桥式微位移放大机构的位移放大比特性，利用桥式微位移放大机构的结构全对称性，建立了微位移放大机构的1/4数学模型.采用矩阵法建立了其柔度矩阵，进而推导了桥式位移放大机构的输出位移公式及位移放大比公式.采用ANSYS 11.0软件进行了有限元仿真，并与理论模型进行了分析比较.最后，设计加工了一个实验样件，对理论模型进行验证.结果表明：放大机构的位移放大比对柔性铰链间距最为敏感，随着柔性铰链间距的增大，位移放大比先急剧增大后缓慢减小，桥式微位移放大机构理论上可以达到40倍以上的位移放大比，但此时误差失真严重，因而位移放大比不宜设计过大.

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	叶果
	李威
	王禹桥
	杨雪锋
	余凌

关键词 ：柔性铰链, 桥式微位移机构, 1/4模型, 位移放大比, 有限元仿真

Abstract：In order to analyze the characteristic of displacement amplification ratio of flexible bridge-type micro-displacement amplifier,a quarter mathematic model is established by using the symmetrical structure of bridge-type micro-displacement amplifier.The formulas for calculating output displacement and displacement amplification ratio of the bridgetype amplifier are derived by adopting the matrix method to deduce the compliance matrix of the mechanism.Finite element simulation is carried out by software ANSYS11.0,and then compared with the theoretical model.Finally,an experimental sample is designed and fabricated to verify the theoretical model.The results show that the displacement amplification ratio of the amplifier is most sensitive to the distance between two flexure hinges;as the distance increases,the displacement amplification ratio increases sharply at first and then decreases slowly;theoretically speaking,the amplifier can get a displacement amplification ratio for more than 40 times,but the error will be amplified at the same time,so the displacement amplification ratio of the bridge-type micro-displacement mechanism should not be too large.

Key words： flexure hinge bridge-type micro displacement mechanism a quarter model displacement amplification ratio finite element simulation

收稿日期: 2010-03-29 录用日期: 2010-10-11

TH132

通讯作者: 叶果 E-mail: yeguo840522@163.com

作者简介: 叶果（1984- ），男，博士生.研究领域：微操作机器人系统．
李威（1964- ），男，教授，博士生导师.研究领域：机电控制，智能仪器仪表等.

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I2/251

[1] Li Y M,Xu Q s.Design of a new decoupled XY flexure parallel kinematic manipulator with actuator isolation[C]//IEEE/RSJ Internafonal Conference on Intelligent Robots and Systems.Piscataway,NJ.USA:IEEE,2008:470-475.
[2] Kim J H,Kim S H,Kwak Y K.Development of a piezoelectric actuator using a three-dimensional bridge-type hinge mechanism[J].Review of Scientific Instruments,2003,74(5):2918-2924.

[3] 杨志刚,刘登云,吴丽萍,等.应用于压电叠堆泵的微位移放大机构[J].光学精密工程,2007,15(6):884-888.Yang Z G,Liu D Y,Wu L P,et al.Micro-displacement magniflying mechanism used in piezo-stack pump[J].Optics and Precision Engineering,2007,15(6):884-888.
[4] 于志远,姚晓先,戴闰志,等.压电舵机微位移放大机构设计[J].兵工学报,2009,30(12):1653-1657.Yu Z Y,Yao X X,Dai R Z,et al.Design of micro-displacement amplifier of piezoelectric servo[J].Acta Armamentarii,2009,30(12):1653-1657.
[5] 于靖军,宗光华,毕树生.全柔性机器人机构的结构构型研究[J].机器人,2003,25(4):367-372,377.Yu J J.Zong G H,Bi S S.Fully compliant robotic mechanisms and their configurations[J].Robot,2003,25(4):367-372,377.
[6] Lobontiu N,Garcia E,Hardau M.Stiffness characterization of corner-filleted flexure hinges[J].Review of Scientific Instruments,2004,75(11):4896-4905.

[7] Kim J H,Kim S H,Kwak Y K.Development and optimization of 3-D bridge-type hinge mechanisms[J].Sensors and Actuators,A:Physical,2004,116(3):530-538.

[8] Lobontiu N,Garcia E.Analytical model of displacement ampliflcation and stiffness optimizafion for a class of flexure-based compliant mechanisms[J].Computers and Structures,2003,81(32):2797-2810.

[9] Ma H W,Yao S M,Wang L Q,et al.Analysis of the displacement amplification ratio of bridge-type flexure hinge[J].Sensors and Actuators,A:Physical,2006,132(2):730-736.

[10] 张兆成,苏继军.胡泓.桥式直接耦合柔性机构的优化设计方法[J].机器人,2010.32(1):119-124.Zhang Z C.Su J J.Hu H.Optimum design of bridge-type compliant mechanism with direct coupling[J].Robot,2010,32(1):119-124.
[11] Lobontiu N.Compliant mechanisms:Design of flexure hinges[M].New York,USA:CRC Press,2002.
[12] Jouaneh M,Yang R.Modeling of flexure-hinge type lever mechanisms[J].Precision Engineering,2003,27(4):407-418.

[13] 曹家勇,朱煜,段广洪,等.两类柔性微动直线导轨的刚度特性[J].清华大学学报:自然科学版,2006,46(5):633-636.Cao J Y,Zhu Y,Duan G H,et al.Stifiness characteristics of two types of micro-motion flexure linear guides[J].Journal of Tsinghua University:Science and Technology,2006,46(5):633-636.
[14] 王纪武,陈恳,李嘉.典型柔性铰链的结构参数对其刚度性能影响的研究[J].机器人,2001,23(1):51-57.Wang J W,Chen K,Li J.Study of geometrical parameters of typical flexible hingess'influence on its rigidity[J].Robot,2001,23(1):51-57.
[15] Koseki Y,Tanikawa T,Koyachi N.et al.Kinematic analysis of translational 3-DOF micro parallel mechanism using matrix method[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2000:786-792.
[16] 宗光华,余志伟,毕树生.直角切口柔性铰链串联支链的屈曲分析[J].机械工程学报,2007,43(6):8-13.Zong G H,Yu Z W,Bi S S.Buckling analysis of serial chain composed of the right-angle-notch flexure hinges[J].Journal of Mechanical Engineering,2007,43(6):8-13.