本文選題：柔性機(jī)構(gòu) + 柔性鉸鏈�。� 參考：《中北大學(xué)》2012年碩士論文

【摘要】：柔性機(jī)構(gòu)作為現(xiàn)代機(jī)構(gòu)學(xué)的一個(gè)重要分支，已成為很多學(xué)者研究的熱點(diǎn)。柔性機(jī)構(gòu)具有無摩擦、無間隙、噪聲小等諸多優(yōu)點(diǎn)，能夠滿足現(xiàn)代機(jī)械的要求，這也使得柔性機(jī)構(gòu)在微機(jī)電系統(tǒng)（MEMS）、航空航天、生物醫(yī)學(xué)等眾多高科技領(lǐng)域得到廣泛的應(yīng)用。但柔性機(jī)構(gòu)的設(shè)計(jì)理論和方法不夠成熟，還有待完善。目前，很多學(xué)者對(duì)柔性鉸鏈四桿機(jī)構(gòu)的設(shè)計(jì)方法、動(dòng)力學(xué)特性、優(yōu)化設(shè)計(jì)等方面進(jìn)行了較為深入的研究，但針對(duì)二自由度柔性鉸鏈連桿機(jī)構(gòu)的研究相對(duì)較少。而二自由度柔性鉸鏈連桿機(jī)構(gòu)是研究三自由度柔性連桿機(jī)構(gòu)和其它空間柔性機(jī)構(gòu)的基礎(chǔ)。本文的研究成果將為進(jìn)一步研究其它更為復(fù)雜的柔性機(jī)構(gòu)提供理論支持。 本文選擇以連桿作為結(jié)構(gòu)單元的二自由度柔性鉸鏈機(jī)構(gòu)作為主要的研究對(duì)象，重點(diǎn)研究該機(jī)構(gòu)的設(shè)計(jì)方法、動(dòng)力學(xué)特性、可靠性和優(yōu)化設(shè)計(jì)。 首先，柔性鉸鏈作為柔性機(jī)構(gòu)的四種基本組成元素之一，是柔性機(jī)構(gòu)最重要的組成部分，決定了整個(gè)柔性機(jī)構(gòu)的特殊性能。因此，本文分別對(duì)三種柔性鉸鏈的柔度、精度特性、切口附近的最大應(yīng)力進(jìn)行了理論分析，得出了計(jì)算公式，并將對(duì)不同結(jié)構(gòu)參數(shù)代入到計(jì)算公式進(jìn)行求解。對(duì)精度特性和切口附近的最大應(yīng)力進(jìn)行了仿真實(shí)驗(yàn)，，得出了精度特性和切口附近的最大應(yīng)力隨柔性鉸鏈的結(jié)構(gòu)參數(shù)之間的變化規(guī)律，并將切口附近的最大應(yīng)力的理論分析值與仿真數(shù)據(jù)進(jìn)行了對(duì)比分析，證明了理論推導(dǎo)的準(zhǔn)確性。 其次，本文對(duì)三種柔性連桿機(jī)構(gòu)的設(shè)計(jì)方法進(jìn)行了研究，首次提出了二自由度柔性鉸鏈六桿機(jī)構(gòu)。三種連桿機(jī)構(gòu)的研究方法基本相同：先根據(jù)虛功原理建立柔性機(jī)構(gòu)的偽剛體模型，得出設(shè)計(jì)的普遍公式；然后在偽剛體模型的基礎(chǔ)上建立擬柔性模型；最后對(duì)二自由度柔性鉸鏈六桿機(jī)構(gòu)進(jìn)行仿真實(shí)驗(yàn)，并將實(shí)驗(yàn)結(jié)果和理論計(jì)算結(jié)果進(jìn)行對(duì)比。 再次，對(duì)柔性連桿機(jī)構(gòu)的綜合特性進(jìn)行了研究。進(jìn)行動(dòng)力學(xué)特性分析時(shí)，研究了三種機(jī)構(gòu)的動(dòng)力學(xué)特性，重點(diǎn)研究了二自由度柔性鉸鏈五桿機(jī)構(gòu)，得出了固有頻率的計(jì)算方法。同時(shí)對(duì)該機(jī)構(gòu)進(jìn)行了仿真研究，得出了多階振型的固有頻率和幅頻特性。研究可靠性時(shí)，先對(duì)基礎(chǔ)理論進(jìn)行了歸納和總結(jié)，接著對(duì)二自由度柔性鉸鏈五桿機(jī)構(gòu)進(jìn)行了實(shí)例和仿真研究。仿真研究主要分析了仿真次數(shù)、載荷均值和寬度均值對(duì)可靠度的影響，并將仿真數(shù)據(jù)繪制成曲線，得出了四者之間的變化規(guī)律。 最后，開展了優(yōu)化設(shè)計(jì)方面的研究工作。建立以追求柔性鉸鏈的性能最優(yōu)為目標(biāo)和以追求整個(gè)機(jī)構(gòu)的質(zhì)量最小為目標(biāo)的優(yōu)化設(shè)計(jì)的數(shù)學(xué)模型，并對(duì)優(yōu)化設(shè)計(jì)的數(shù)學(xué)模型進(jìn)行了求解。
[Abstract]:As an important branch of modern mechanism, flexible mechanism has become a hot spot of many scholars. Flexible mechanism has many advantages, such as no friction, no clearance, low noise and so on, which can meet the requirements of modern machinery. It also makes flexible mechanism widely used in many high-tech fields such as MEMS, aerospace, biomedicine and so on. However, the design theory and method of flexible mechanism are not mature enough and need to be perfected. At present, many scholars have carried on the thorough research on the design method, the dynamics characteristic, the optimization design and so on of the flexure hinge four-bar mechanism, but the research for the two-degree-of-freedom flexure hinge linkage mechanism is relatively few. The two-degree-of-freedom flexure hinge linkage mechanism is the basis for the study of three-degree-of-freedom flexible linkage mechanism and other spatial flexible mechanisms. The results of this paper will provide theoretical support for the further study of other more complex flexible mechanisms. In this paper, a two-degree-of-freedom flexure hinge mechanism with connecting rod as the structural element is chosen as the main research object, and the design method, dynamic characteristics, reliability and optimization design of the mechanism are emphatically studied. Firstly, as one of the four basic components of flexible mechanism, flexure hinge is the most important component of flexible mechanism, which determines the special performance of the whole flexible mechanism. Therefore, in this paper, the flexibility, precision characteristics and maximum stress near the notch of three kinds of flexure hinges are theoretically analyzed, and the calculation formulas are obtained, and the different structural parameters are added to the calculation formula to solve the problem. The accuracy characteristics and the maximum stress near the notch are simulated, and the variation law between the precision characteristic and the maximum stress near the notch with the structural parameters of the flexure hinge is obtained. The theoretical analysis value of the maximum stress near the notch is compared with the simulation data, and the accuracy of the theoretical derivation is proved. Secondly, the design methods of three kinds of flexible linkage mechanisms are studied in this paper, and the two degree of freedom flexure hinge six-bar mechanism is proposed for the first time. The research methods of the three linkage mechanisms are basically the same: firstly, the pseudo-rigid body model of the flexible mechanism is established according to the principle of virtual work, and the universal formula of the design is obtained, and then the quasi-flexible model is established on the basis of the pseudo-rigid body model. At last, the simulation experiment of two degree of freedom flexure hinge six-bar mechanism is carried out, and the experimental results are compared with the theoretical calculation results. Thirdly, the comprehensive characteristics of flexible linkage mechanism are studied. The dynamic characteristics of three kinds of mechanisms are studied, especially the two-degree-of-freedom flexure hinge five-bar mechanism, and the calculation method of natural frequency is obtained. At the same time, the simulation of the mechanism is carried out, and the characteristics of the natural frequency and amplitude frequency of the multi-order mode are obtained. In the study of reliability, the basic theory is summarized firstly, and then the two-degree-of-freedom flexure hinge five-bar mechanism is studied by example and simulation. The simulation research mainly analyzes the influence of the times of simulation, the average load and the average width on the reliability, and draws the curve of the simulation data, and obtains the law of variation between the four. Finally, the research work of optimization design is carried out. A mathematical model of optimal design with the aim of pursuing the optimal performance of the flexure hinge and the minimum mass of the whole mechanism is established, and the mathematical model of the optimal design is solved.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112

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