一种柔顺机构结构模型与自由度计算

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在分析柔顺机构基本结构的基础上,针对柔性铰链的复杂性,给出了柔顺机构结构模型的表示方法及基本准则,基于结构模型提出了柔顺机构结构拓扑图和邻接矩阵的表示方法。针对柔顺机构在有效运动范围内具有确定运动的特点,提出了有效自由度的概念并给出了计算方法,避免了可变自由度的产生。以柔顺捕鱼钳为例分别验证了结构模型、拓扑图、邻接矩阵及自由度计算对于柔顺机构分析是有效的。 Abstract：On the analysis of compliant mechanism on the basis of the basic structure, accord- ing to the complexity of the flexible hinge, given the compliant mechanism structure model representation method and basic principle, based on the structure model put forward the compliant mechanism topology graph and the method of the adjacency matrix representation. For the compliant mechanism in the effec- tive range of motion is to determine the motion characteristic, put forward the concept of the effective de- grees of freedom and its calculation method, avoids the generation of the variable degrees of freedom. A compliant fishing clamp for example verify the structure model, topological graph, adjacency matrix and the calculation of degree of freedom for compliant mechanism analysis is effective.