基于附加弹簧双滑块四杆机构的柔顺恒力机构设计

张凯; 韩迎鸽; 李保坤; 张杰

doi:10.16578/j.issn.1004.2539.2020.04.013

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基于附加弹簧双滑块四杆机构的柔顺恒力机构设计

设计计算 | 更新时间：2022-10-20

- 基于附加弹簧双滑块四杆机构的柔顺恒力机构设计
- Design of Compliant Constant-force Mechanism based on Additional Spring Double-slider Four-bar Mechanism
- 机械传动 2020年44卷第4期页码：85-89
- 作者机构：
  
  1.安徽理工大学机械工程学院，安徽淮南 232001
  2.安徽理工大学电气与信息工程学院，安徽淮南 232001
- 作者简介：
  
  张凯（1994— ），男，安徽淮南人，硕士，研究方向为柔顺机构设计。
  韩迎鸽（1978— ），女，陕西兴平人，副教授，主要研究方向为机器人技术。
- 基金信息：
  
  安徽省高等学校自然科学研究基金重点项目(KJ2015A121┫广西省制造系统与先进制造技术重点实验室开放课题┣17-259-05-013K)
- DOI：10.16578/j.issn.1004.2539.2020.04.013
  中图分类号：
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张凯,韩迎鸽,李保坤等.基于附加弹簧双滑块四杆机构的柔顺恒力机构设计[J].机械传动,2020,44(04):85-89.

Zhang Kai,Han Yingge,Li Baokun,et al.Design of Compliant Constant-force Mechanism based on Additional Spring Double-slider Four-bar Mechanism[J].Journal of Mechanical Transmission,2020,44(04):85-89.
张凯,韩迎鸽,李保坤等.基于附加弹簧双滑块四杆机构的柔顺恒力机构设计[J].机械传动,2020,44(04):85-89. DOI： 10.16578/j.issn.1004.2539.2020.04.013.

Zhang Kai,Han Yingge,Li Baokun,et al.Design of Compliant Constant-force Mechanism based on Additional Spring Double-slider Four-bar Mechanism[J].Journal of Mechanical Transmission,2020,44(04):85-89. DOI： 10.16578/j.issn.1004.2539.2020.04.013.

摘要

给出一种基于伪刚体模型的柔顺夹持器设计方法。基于附加弹簧双滑块四杆机构构造了一种具有恒力特性的柔顺夹持机构。建立了机构位置分析模型，利用虚功原理构建运动静力学方程，分析弹簧刚度对机构输出特性的影响，获得了具有一种恒力特性的柔顺夹持机构设计方法。基于伪刚体模型，将附加弹簧以柔性模块替代，得到一种新型柔顺恒力机构。利用有限元分析软件验证该机构理论模型建立柔顺恒力机构的可行性；构造了一种具有对称结构形式的新型柔顺恒力夹持器。该柔顺恒力夹持器的设计方法也可应用于其他类型附加弹簧机构的非线性刚度特性柔顺机构设计。

Abstract

A design method of compliant gripper based on pseudo rigid body model is presented.A compliant clamping mechanism with constant force characteristics is constructed based on the additional spring double-slide four-bar mechanism.The mechanism position analysis model is established and the kinematic statics equation is constructed by using the principle of virtual work.The influence of spring stiffness on the output characteristics of the mechanism is analyzed，and a compliant clamping mechanism design method with constant force characteristics is obtained.Based on the pseudo rigid body model，the additional spring is replaced by a flexible module to obtain a new type of compliant constant force mechanism.The feasibility of establishing compliant constant force mechanism is verified by finite element analysis software.Finally，a new type of compliant constant force gripper with a symmetrical structure is constructed.The design method of the compliant constant force gripper can also be applied to the non-linear stiffness characteristic compliant mechanism design included other types of additional spring mechanisms.

关键词

柔顺机构恒力机构伪刚体模型运动静力学

Keywords

Compliant mechanismConstant-force mechanismPseudo rigid body modelKinetostatics

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