设计高精度的大变形柔性铰链，用以替代传统刚性运动副，对于具有一般宏观运动的机构及机器人具有重要理论和现实意义。提出10种柔性铰链设计方案，利用ANSYS和ADAMS仿真，通过性能比较优选出X型和Y型两种新型柔性铰链，再经过结构设计并加工制作出两柔性铰链，利用3D光学坐标测量仪OPTOTRAK对其进行轴漂测量，通过试验数据分析最终确定性能最优的X型柔性铰链，用其替换平面3-RRR并联机器人上的刚性转动副，进行了机器人动平台沿直径为100 mm圆运动的轨迹跟踪试验，并与单片簧柔性铰链及刚性铰链情况对比，试验结果表明： X型柔性铰链能够很好地替代并联机器人中的刚性转动副，采用X型柔性铰链时机器人末端最大误差仅为0.371 7 mm，比用刚性运动副和单片簧柔性铰链时分别减小了44.2%和31.1%，较大程度上提高了并联机器人的运动精度和综合性能。
It is theoretically and practically significant to design large deformation of flexure joints with high precision for replacing the traditional rigid kinematic pairs in general mechanisms and robots with gross motion. Ten types of flexure joint schemes are proposed. Two new types of X and Y flexure joints are chosen via ANSYS and ADAMS simulation and comparison. After the structure design and manufacture of the two flexure joints, the axis drifts of the flexure joints are measured using the 3D optical coordinates measuring instrument OPTOTRAK. The X-type flexure joint is decided to be the optimal scheme. The rigid kinematic pairs of planar 3-RRR parallel robot are replaced by the X-type flexible joints and the experiment on the trajectory tracking of a circular with diameter of 100mm is carried out. Compared with the cases of single spring flexible joints and rigid revolute pairs in the robot, the experimental results show that the X-type flexure joint can be used to substitute the revolute pair very well. The maximum error of robot with X type flexure joint is just 0.371 7 mm that is reduced by 44.2% and 31.1% compared with that with rigid revolute pairs and single spring flexible joints, respectively. The motion precision and characteristics of the parallel robot are improved a lot.
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