摘要
柔性铰链是一种被广泛用于微动机器人的主要构件 ,其运动变形精度直接影响微动机器人的终端定位和操作的控制。由于传统理论方法无法准确分析特殊几何结构柔性铰链的精度性能 ,因此采用有限元技术对 3种典型柔性铰运动变形进行了系统的研究 ,并将模拟结果与传统理论的分析结果进行了比较 ,分析了在加载条件下不同几何参数对 3种柔性铰功能方向和非功能方向精度性能的影响 。
Flexible hinge is widely used as one of the essential components in micro motion robots. There are some direct influence of their deformation precision on the positioning and operation precision of micro motion robots' pose. Due to the diversities and complexities of practical demands, their geometrical dimensions are not able to satisfy hypotheses of traditional theory analyses. Therefore, it is difficult to make an accurate analysis for their precision when they undergo external loads. Based on the finite element method, the kinematics of three typical flexible hinges are studied. Compared with results of traditional theory analyses, the error reasons and the influence of geometrical parameters on their precision are given.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2001年第11期49-52,共4页
Journal of Tsinghua University(Science and Technology)
关键词
柔性铰链
微动机器人
有限元
flexible hinge
micro motion robot
finite element method
