特邀专栏:柔性机构及机器人

基于拉力带参数的IST-LEJ设计与分析

  • 邱丽芳 ,
  • 王晶琳 ,
  • 刘宁宁
展开
  • 北京科技大学机械工程学院 北京 100083
王晶琳,女,1991年出生,硕士研究生。主要研究方向为柔性机构。E-mail:wjl_by@126.com

收稿日期: 2017-07-02

  修回日期: 2017-11-09

  网络出版日期: 2018-07-05

基金资助

国家自然科学基金资助项目(51475037)。

Design and Analysis of IST-LEJ Based on Tension Band Parameters

  • QIU Lifang ,
  • WANG Jinglin ,
  • LIU Ningning
Expand
  • School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083

Received date: 2017-07-02

  Revised date: 2017-11-09

  Online published: 2018-07-05

摘要

提出了一种新型结构柔性铰链,命名为平面折展抗拉压倒置扭转铰链(Inverted stripe-type torsional lamina emergent joint,IST-LEJ),设计了该铰链的结构形式,推导了其弯曲等效刚度计算公式,提出了基于拉力带特征参数的修正系数。通过实例的理论计算和有限元仿真分析,验证了基于修正系数的弯曲等效刚度公式的正确性。通过不同拉力带尺寸的实例计算,进一步验证了等效刚度理论公式的正确性和修正系数的有效性。建立了与IST-LEJ设计实例外形尺寸和特征参数相同的平面折展倒置扭转铰链(Inverted torsional lamina emergent joint,IT-LEJ)铰链的有限元模型,比较了IST-LEJ与IT-LEJ铰链的弯曲性能和抗拉压性能。最后,对聚丙烯和铍青铜材料的这两种铰链进行了失效分析,得出了不同材料铰链各自的弯曲变形范围。

本文引用格式

邱丽芳 , 王晶琳 , 刘宁宁 . 基于拉力带参数的IST-LEJ设计与分析[J]. 机械工程学报, 2018 , 54(13) : 94 -101 . DOI: 10.3901/JME.2018.13.094

Abstract

A new type of flexure hinge, named inverted stripe-type torsional lamina emergent joint (IST-LEJ), is proposed. The structural form of the hinge is designed, and its bending equivalent stiffness is deduced. The correction coefficient based on characteristic parameters of the tension band is put forward. Through the theoretical calculation and the finite element simulation analysis, the correctness of the bending equivalent stiffness formula based on the modified coefficient is verified. The correctness of the theoretical formula of equivalent stiffness and the validity of the correction coefficient are further verified by the examples of different tension band sizes. A finite element model of IT-LEJ with the same dimensions and characteristic parameters of IST-LEJ design example is established, and the bending and tensile resistant properties of IST-LEJ and IT-LEJ are compared. Finally, the failure analysis of the two hinges of polypropylene and beryllium bronze is carried out, and the bending deformation range of hinges with different materials is obtained.

参考文献

[1] 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 Wenjing, YU Yueqing, WANG Huawei. Research status of compliant mechanisms at home and abroad[J]. Journal of Machine Design, 2007, 24(6):1-4.
[2] 于靖军,裴旭,毕树生,等. 柔性铰链机构设计方法的研究进展[J]. 机械工程学报, 2010, 46(13):2-13. YU Jingjun, PEI Xu, BI Shusheng, et al. State-of-arts of design method for flexure mechanisms[J]. Journal of Mechanical Engineering, 2010, 46(13):2-13.
[3] 张宪民, 汪启亮. 柔顺机构疲劳可靠性及损伤识别研究进展[J]. 华南理工大学学报, 2012, 40(10):190-197. ZHANG Xianmin, WANG Qiliang. Research progress of fatigue reliability and damage identification of compliant mechanisms[J]. Journal of South China University of Technology, 2012, 40(10):190-197.
[4] 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.
[5] 王国彪,陈殿生,陈科位,等. 仿生机器人研究现状与发展趋势[J]. 机械工程学报, 2015, 51(13):27-44. WANG Guobiao, CHEN Diansheng, CHEN Kewei, et al. The current research status and development strategy on biomimetic robot[J]. Journal of Mechanical Engineering, 2015, 51(13):27-44.
[6] CHEN G, CHANG H, LI G. Design of constant-force compliant sarrus mechanism considering stiffness nonlinearity of compliant joints[M]//Advances in Reconfigurable Mechanisms and Robots Ⅱ. Springer, 2016.
[7] 闪明才,王伟明,马树元,等. 大行程串联柔性机构分析与设计[J]. 纳米技术与精密工程, 2012, 10(3):268-272. SHAN Mingcai, WANG Weiming, MA Shuyuan, et al. Analysis and design of large stroke series flexure mechanism[J]. Nanotechnology and Precision Engineering, 2012, 10(3):268-272.
[8] SAFSTEN C, FILLMORE T, LOGAN A, et al. Analyzing the stability properties of kaleidocycles[J]. Journal of Applied Mechanics, 2016, 83(5):051001-051001-13.
[9] 达选祥,勾燕洁,陈贵敏. 一种基于变胞变换的柔顺剥线钳[J]. 机械工程学报, 2015, 51(1):69-75. DA Xuanxiang, GOU Yanjie, CHEN Guimin. Compliant wire stripper based on metamorphic transformation[J]. Journal of Mechanical Engineering, 2015, 51(1):69-75.
[10] FOWLER R M, HOWELL L L, MAGLEBY S P. Compliant space mechanisms:A new frontier for compliant mechanisms[J]. Mechanical Sciences, 2011, 2(2):205-215.
[11] GUÉRINOT A E, MAGLEBY S P, HOWELL L L. Preliminary design concepts for compliant mechanism prosthetic knee joints[C]//ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2004:1103-1111.
[12] 马付雷,刘小院,陈贵敏. 一种用于狭小操作空间的柔性可回程扳手[J]. 机械工程学报, 2015, 51(13):183-188. MA Fulei, LIU Xiaoyuan, CHEN Guimin. Design of a compliant reversible wrench for limited-space operations[J]. Journal of Mechanical Engineering, 2015, 51(13):183-188.
[13] 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.
[14] NELSON T G, LANG R J, MAGLEBY S P, et al. Curved-folding-inspired deployable compliant rolling-contact element (D-CORE)[J]. Mechanism & Machine Theory, 2015, 96(43):225-238.
[15] MERRIAM E G, HOWELL L L. Lattice flexures:Geometries for stiffness reduction of blade flexures[J]. Precision Engineering, 2016, 45:160-167.
[16] NELSON T G, BRUTON J T, RIESKE N E, et al. Material selection shape factors for compliant arrays in bending[J]. Materials & Design, 2016, 110:865-877.
[17] YANG M, LIN J, DU Z, et al. Nonlinear deformation analysis of superelastic flexure hinges[C]//ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2016:V05AT07A012.
[18] DELIMONT I L, MAGLEBY S P, HOWELL L L. A family of dual-segment compliant joints suitable for use as surrogate folds[J]. Journal of Mechanical Design, 2015, 137(9):092302-092302-9.
[19] QIU L, YIN S, XIE Z. Failure analysis and performance comparison of triple-LET and LET flexure hinges[J]. Engineering Failure Analysis, 2016, 66:35-43.
[20] 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(2):408-412.QIU Lifang, PANG Daqian, CHEN Jiaxing, et al. Design and performance analysis of lamina emergent mechanisms S-LET-shaped flexure hinge[J]. Transactions of the Chinese Society of Agricultural Machinery, 2014, 2016(2):408-412.
[21] XIE Z, QIU L, YANG D. Design and analysis of outside-deployed lamina emergent joint (OD-LEJ)[J]. Mechanism & Machine Theory, 2017, 114:111-124.
[22] 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.
文章导航

/