【摘要】：柔性機構(gòu)是一種利用機構(gòu)（或構(gòu)件）本身的撓性獲得部分或全部運動的機構(gòu)，其減少了機構(gòu)的零件數(shù)目，避免了機構(gòu)的一些裝配環(huán)節(jié)，使機構(gòu)更加簡單、可靠，且構(gòu)件之間無縫隙和摩擦，提高了機構(gòu)的運動精度及使用壽命。然而，利用柔性機構(gòu)中柔性構(gòu)件的彈性變形來實現(xiàn)運動時，柔性機構(gòu)需要額外的輸入使彈性構(gòu)件發(fā)生變形，導致機構(gòu)中非期望的能量存儲，其存儲的能量在彈性構(gòu)件恢復形變時以回程反力做功的形式釋放，這種柔性機構(gòu)的儲能釋能特性在一定程度上降低了其使用性能，如使驅(qū)動力的增加、工作力反饋的無效感知等。 首先，本文對柔性機構(gòu)做了簡要的介紹，說明了柔性機構(gòu)的基本設計方法和應用領(lǐng)域；后提出了柔性機構(gòu)軟化的概念、實現(xiàn)柔性機構(gòu)軟化與靜態(tài)平衡的優(yōu)化設計方法及其步驟。其次，應用所述的方法，設計了一些實現(xiàn)了軟化或靜態(tài)平衡的柔性機構(gòu)：基于柔性四桿機構(gòu)優(yōu)化設計了可用于汽車后蓋開閉的柔性機構(gòu)，其不需要額外的驅(qū)動裝置便可呈現(xiàn)雙穩(wěn)態(tài)特性，，同樣的對用柔性四桿機構(gòu)實現(xiàn)繞定軸轉(zhuǎn)動重物的靜態(tài)平衡機構(gòu)也做了優(yōu)化設計；優(yōu)化設計了多穩(wěn)態(tài)機構(gòu)的參數(shù)，使得兩多穩(wěn)態(tài)機構(gòu)并聯(lián)疊加后在區(qū)段上實現(xiàn)靜態(tài)平衡，并用ANSYS對其做了有限元靜力分析與檢驗；在分析空間6R Sarrus機構(gòu)運動學的基礎上，分析了全柔性或部分柔性Sarrus機構(gòu)的多穩(wěn)態(tài)特性，后通過疊加形成的多穩(wěn)態(tài)特性實現(xiàn)了柔性Sarrus機構(gòu)的靜態(tài)平衡特性。最后，對本文中所提出的柔性機構(gòu)軟化及靜態(tài)平衡的方法及應用該方法所設計機構(gòu)的效果做了相應的分析與總結(jié)，并對未來的工作做出了展望。 本文所提出的使柔性機構(gòu)軟化及靜態(tài)平衡的方法成功實現(xiàn)了柔性機構(gòu)在特定運動段內(nèi)機構(gòu)剛度的減小或為零，使得柔性機構(gòu)的應用范圍更加廣泛，并使其可在精確度要求高的MEMS中廣泛的應用，提高了使用性能，易于維護，且用很小的驅(qū)動機構(gòu)即可驅(qū)動，減小了機構(gòu)的體積與重量，使之更加安全可靠。
[Abstract]:Flexible mechanism is a kind of mechanism which can obtain part or all motion by using the flexibility of the mechanism (or component) itself. It reduces the number of parts of the mechanism, avoids some assembly links of the mechanism, and makes the mechanism simpler and more reliable. And there is no gap and friction between the components, which improves the kinematic accuracy and service life of the mechanism. However, when the elastic deformation of the flexible member in the flexible mechanism is used to realize the motion, the flexible mechanism needs additional input to make the elastic member deform, resulting in the unexpected energy storage of the mechanism. The stored energy is released in the form of backhaul counterforce work when the elastic member recovers the deformation. The energy storage and release characteristics of the flexible mechanism reduce its performance to a certain extent, such as increasing the driving force. Invalid perception of feedback of work force, etc. Firstly, this paper briefly introduces the flexible mechanism, explains the basic design method and application field of the flexible mechanism, and then puts forward the concept of the flexible mechanism softening, and the optimal design method and its steps to realize the softening and static balance of the flexible mechanism. Secondly, some flexible mechanisms with softening or static balance are designed by using the method. Based on the flexible four-bar mechanism, the flexible mechanism that can be used to open and close the rear cover of automobile is optimized. It can present bistable characteristics without additional driving device. The same static balancing mechanism which uses flexible four-bar mechanism to realize the rotation of weight around the fixed axis is also optimized. The parameters of the multi-stable mechanism are optimized and the static balance of the two mechanisms is realized by parallel superposition. The finite element static analysis and test are carried out with ANSYS. On the basis of kinematics analysis of spatial 6R Sarrus mechanism, the multi-steady state characteristics of fully flexible or partially flexible Sarrus mechanism are analyzed, and the static equilibrium characteristics of flexible Sarrus mechanism are realized by superposition of multi-steady state characteristics. Finally, the methods of softening and static balance of flexible mechanism proposed in this paper and the effect of the mechanism designed by this method are analyzed and summarized, and the future work is prospected. The method of softening and static balance of the flexible mechanism proposed in this paper has successfully realized the reduction or zero of the stiffness of the flexible mechanism in the specific motion segment, which makes the application of the flexible mechanism more extensive. It can be widely used in MEMS with high precision, and it improves the performance, easy to maintain, and can be driven by very small driving mechanism, which reduces the volume and weight of the mechanism and makes it more safe and reliable.
【學位授予單位】：西安電子科技大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH112

【引證文獻】

相關(guān)博士學位論文 前1條

1 張愛梅;平面梁大撓度非線性問題的完備解與柔順機構(gòu)精確建模[D];西安電子科技大學;2013年

相關(guān)碩士學位論文 前3條

1 劉文濤;面向柔順機構(gòu)的拓撲優(yōu)化設計應用拓展研究[D];東華大學;2013年

2 劉毅;柔性變胞機構(gòu)的多穩(wěn)態(tài)性能研究[D];西安電子科技大學;2013年

3 達選祥;柔性變胞機構(gòu)研究與設計[D];西安電子科技大學;2013年

本文編號：2429531