多稳态柔顺机构综合方法的研究

发布时间：2018-04-13 13:39

本文选题：柔顺机构 + 多稳态机构　；参考：《北方工业大学》2012年硕士论文

【摘要】：随着现代科技的发展,传统刚性机构越来越不能满足人们的需求,越来越多的学者们开始对柔顺机构进行分析和研究。多稳态柔顺机构是指在其运动范围内具有三个及以上稳定的静力学平衡位置的机构。由于多稳态柔顺机构既可以实现运动又可以获得更多的稳定位形,在仿生机构(蛇形机器人)、医疗设备等机器人机构设计方面具有广泛应用价值。目前学者们研究都局限于特殊双稳态机构的探究,对于多稳态柔顺机构的研究还没有一个系统的方法。本论文主要探究柔顺机构多稳态特性的研究方法。首先,针对平面五杆柔顺机构的双稳态、多稳态特征综合问题进行研究,从机构弹性势能变化的角度分析机构的多稳态特征,对具有1～3个柔顺关节的情况进行了分析。证明当只有驱动关节为柔顺关节时,平面五杆柔顺机构不具有双稳态或多稳态特征；当除主动关节之外的其余关节为柔顺关节时,平面五杆柔顺机构可能具有双稳态、多稳态或连续稳态位形特征,给出了不同情况下机构具有多稳态特征时机构必须满足的几何约束条件。其次,针对平面五杆柔顺机构存在两个柔顺关节的情况进行分析,从机构位形的对称性出发寻找机构的稳态特性。将柔顺机构简化成伪刚体模型,通过机构位形的几何关系,推导出角度的对称关系。在柔顺机构的分析过程中,发现并利用图形的对称性,来寻找稳态位置。证明了当两个柔顺关节中有一个为驱动关节时,机构可以通过对称角或对称位形来找稳态位置,并寻找到一种平面五杆三稳态机构。最后,利用图形叠加的方法分析单自由度机构和多自由度柔顺机构,研究具有稳态特性的柔顺关节和不具有稳态特性的柔顺关节如何影响机构的稳态特性。在平面五杆柔顺并联机构模型分析过程中,寻找到主动关节与被动关节对柔顺机构稳态特性的影响。通过串联双稳态机构和混联其他机构的方法寻找多稳态机构。
[Abstract]:With the development of modern science and technology, the traditional rigid mechanism can not meet the needs of people more and more scholars begin to analyze and study the compliant mechanism.Multi-steady compliance mechanism is a mechanism with three or more stable statically balanced positions in the range of motion.Since the multi-steady compliant mechanism can not only achieve motion but also obtain more stable configurations, it has wide application value in the design of bionic mechanism (snake robot, medical equipment and other robot mechanisms).At present, the research is limited to the research of special bistable mechanism, but there is no systematic method for the study of multi-stable compliance mechanism.This paper mainly explores the research methods of multi-steady state characteristics of compliant mechanism.Firstly, the bistable and multi-steady-state characteristic synthesis of planar five-bar compliant mechanism is studied. From the angle of the change of elastic potential energy of the mechanism, the multi-steady-state characteristic of the mechanism is analyzed, and the case with 1 ~ 3 compliant joints is analyzed.It is proved that when only the driving joint is compliant, the planar five-bar compliance mechanism is not bistable or multi-stable, and when the other joints other than the active joint are compliant, the planar five-bar compliance mechanism may have bistability.In this paper, the geometric constraints which must be satisfied by the mechanism with multi-steady state characteristics under different conditions are given.Secondly, this paper analyzes the existence of two compliant joints in the planar five-bar compliant mechanism, and looks for the steady-state characteristics of the mechanism from the symmetry of the configuration.The compliant mechanism is simplified into a pseudo-rigid body model, and the symmetry of the angle is derived by the geometric relation of the mechanism configuration.In the process of analysis of compliant mechanism, the symmetry of figure is found and used to find the steady position.It is proved that when one of the two compliant joints is a driving joint, the mechanism can find the steady-state position by symmetric angle or symmetrical configuration, and find a planar five-bar three-steady mechanism.Finally, the method of graph superposition is used to analyze the mechanism of single degree of freedom (DOF) and multi-degree-of-freedom (MDOF), and to study how compliance joints with steady-state and non-steady-state characteristics affect the steady-state characteristics of the mechanism.In the process of model analysis of planar five-bar compliant parallel mechanism, the effects of active and passive joints on the steady-state characteristics of compliant mechanism are found.The multistable mechanism is found by means of series bistable mechanism and mixed other mechanism.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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