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平面柔性机构的结构型式及其自由度分析

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  • 发布时间:2014-03-26
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平面柔性机构自由度的分析可为选择其驱动器提供依据,平面柔性机构由刚性构件、刚性运动副、柔性构件、柔性铰链四个元素组成,不同元素的不同组合得到不同的柔性机构型式,理论上共计15类,工程应用型计11类,在分析单一柔性构件自由度及其影响因素的基础上,基于“伪刚性机构”的思想,提出了两个及两个以上元素组成柔性机构的自由度计算原则,并根据此计算原则对11类工程应用性的平面柔性机构给出了实例机构的自由度计算。 The analysis of degree-of-freedom about planar flexible mechanism is foundation of selecting actuator.The planar flexible mechanism is composed of four elements: rigid member,rigid pair, compliant member and flexible hinge.Different combination of different elements can become fifteen types of flexible mechanisms in theory and eleven types in engineering applicability.After analyzing on degree- of-freedom of unit flexible members and inflttential factor,a calctdating principle for Degree-of-freedom of flexible mechanism composed of two or two more elements is given.Based on the Pseudo-gid-body,and experimental analysis of eleven types compliant mechanisms are presented to illustrate the conclusion.

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