Abstract: Ntugharị ntụgharị nke mgbanaka na-agbanwe efu efu bụ ihe dị ka efu, nke na-emeri ntụpọ nke ndị na-agbanwe agbanwe nkịtị na-achọ ike ịnya ụgbọ ala, a pụkwara itinye ya na grippers na-agbanwe agbanwe na mpaghara ndị ọzọ. Inweta mgbanaka dị n'ime na mpụta na-agbanwe agbanwe n'okpuru omume nke torque dị ọcha dị ka sistemu isi ike dị mma, nyocha usoro siri ike na-adịghị mma yana dabara nke ọma na isi ike na-adịghị mma nwere ike wulite nkwụsi ike na-agbanwe agbanwe efu. Wepụta usoro ntụgharị isi ike adịghị mma——Usoro mmiri crank, kpụrụ ma nyochaa njirimara isi ike ya na-adịghị mma; site kenha nti na adịghị mma isi ike, nyochaa mmetụta nke structural parameters nke crank spring usoro on efu isiike àgwà; tụrụ aro ka mmiri dị linear nwere isi ike na nha nwere ike ịhazi ya——eriri mmiri akwụkwọ nke nwere ụdị diamond, e hiwere ụdị isi ike ahụ wee mee nkwenye njiri mara njedebe; N'ikpeazụ, imewe, nhazi na nnwale nke ihe nleba anya na-agbanwe agbanwe efu efu. Nsonaazụ ule gosiri na: n'okpuru omume nke torque dị ọcha,±18°N'ebe dị iche iche nke ntụgharị ntụgharị, ntụgharị ntụgharị nke ntụgharị efu na-agbanwe agbanwe bụ 93% dị ala karịa nke n'ime na mgbanaka na-agbanwe agbanwe na nkezi. Ihe mgbakwasị ụkwụ na-agbanwe agbanwe na-enweghị atụ nke e wuru nwere nhazi kọmpat na ịdị elu efu efu; usoro ntụgharị ntụgharị na-adịghị mma-isi ike na linear The spring nwere nnukwu uru ntụaka maka ọmụmụ nke usoro mgbanwe.
0 okwu mmalite
Mkpịsị aka na-agbanwe agbanwe (ebu)
[1-2]
N'ịdabere na nrụrụ na-agbanwe agbanwe nke unit na-agbanwe ma ọ bụ gbanwee mmegharị, ike na ume, ejirila ya mee ihe n'ụzọ ziri ezi na mpaghara ndị ọzọ. N'iji ya na bearings siri ike nke ọdịnala, enwere oge iweghachi mgbe mgbanaka na-agbanwe agbanwe na-atụgharị. Ya mere, draịva unit kwesịrị inye mmepụta torque ịkwọ ụgbọala na Debe ntụgharị nke mgbanaka na-agbanwe agbanwe. Ihe nhịahụ na-agbanwe agbanwe adịghị isi ike
[3]
(Zero stiffness flexural pivot, ZSFP) bụ nkwonkwo rotary na-agbanwe agbanwe nke isi ike ntụgharị ya dị ihe dịka efu. Ụdị mgbanaka a na-agbanwe agbanwe nwere ike ịnọrọ n'ọnọdụ ọ bụla n'ime oke strok, nke a makwaara dị ka static balance mgbanwe hinge
[4]
, a na-ejikarị eme ihe n'ubi dị ka ihe na-agbanwe agbanwe.
Dabere n'echiche imewe modular nke usoro na-agbanwe agbanwe, enwere ike kewaa sistemu efu na-agbanwe agbanwe n'ime usoro abụọ nke isi ike dị mma na nke na-adịghị mma.
[5]
. N'ime ha, usoro subsystem dị mma nke isi ike na-abụkarị nnukwu mgbanaka na-agbanwe agbanwe, dị ka mgbanaka ahịhịa na-agbanwe agbanwe.
[6-7]
, nkuku ahịhịa amị na-agbanwe agbanwe nke nwere akụkụ atọ
[8-9]
na n'ime na mpụta mgbanaka na-agbanwe hinges
[10-11]
Nd. Ka ọ dị ugbu a, nyocha na hinges na-agbanwe agbanwe enwetala ọtụtụ nsonaazụ, ya mere, isi ihe iji chepụta ihe nrịbama efu na-agbanwe agbanwe bụ iji dakọtara modul isi ike na-adịghị mma kwesịrị ekwesị maka mgbanaka na-agbanwe agbanwe[3].
Mgbanaka n'ime na mpụta na-agbanwe agbanwe (ime na mpụta mgbanaka na-agbanwe agbanwe, IORFP) nwere njirimara mara mma n'ihe gbasara isi ike, nkenke na nfegharị okpomọkụ. Modul siri ike na-adịghị mma kwekọrọ na-enye usoro ihe owuwu nke oghere efu na-agbanwe agbanwe, na n'ikpeazụ, mejupụta nhazi ahụ, nhazi ihe nlele na nyocha nke nkwụsịtụ efu efu.
1 crank mmiri usoro
1.1 Nkọwa nke isi ike na-adịghị mma
Nkọwa izugbe nke isi ike K bụ ọnụego mgbanwe n'etiti ibu F nke ihe na-agbanwe agbanwe na nrụrụ kwekọrọ dx.
K= dF/dx (1)
Mgbe ibuwanye ibu nke ihe na-agbanwe agbanwe na-emegide akara ngosi nke nrụrụ kwekọrọ, ọ bụ isi ike na-adịghị mma. N'ụzọ anụ ahụ, isi ike na-adịghị mma kwekọrọ na nkwụsịtụ nke ihe na-agbanwe agbanwe
[12]
Usoro isi ike na-adịghị mma na-arụ ọrụ dị mkpa n'ọhịa nke mgbanwe static itule. Ọtụtụ mgbe, usoro isi ike na-adịghị mma nwere njirimara ndị a.
(1) Usoro ahụ na-edobe ụfọdụ ume ma ọ bụ nwee nrụrụ ụfọdụ.
(2) Usoro ahụ nọ na ọnọdụ enweghị ntụkwasị obi dị oke egwu.
(3) Mgbe usoro ahụ dị ntakịrị na-akpaghasị ma hapụ ọnọdụ nha nha, ọ nwere ike ịhapụ ike ka ukwuu, nke dị n'otu ntụziaka ahụ dịka mmegharị ahụ.
1.2 ụkpụrụ ewu nke efu-stiffness na-agbanwe hinge
Enwere ike wulite hinge na-agbanwe agbanwe na-enweghị isi site na iji ndakọrịta nke ọma na nke na-adịghị mma, a gosipụtara ụkpụrụ a na eserese 2.
(1) N'okpuru ọrụ nke torque dị ọcha, mgbanaka n'ime na nke mpụta na-agbanwe agbanwe nwere njikọ n'akụkụ nkuku na-atụgharị n'ahịrị, dịka egosiri na eserese 2a. Karịsịa, mgbe ebe mgbaba dị na 12.73% nke ogologo ahịhịa amị ahụ, njikọ nkuku na-atụgharị bụ ahịrị.
[11]
, n'oge a, oge iweghachi Mpivot (ntụgharị aka elekere) nke mgbanaka na-agbanwe agbanwe metụtara akụkụ ntụgharị ntụgharị.θ(counterclockwise) mmekọrịta bụ
Mpivot=(8EI/L)θ (2)
N'ime usoro ahụ, E bụ modulus na-agbanwe agbanwe nke ihe ahụ, L bụ ogologo nke ahịhịa amị, na m bụ oge inertia nke ngalaba.
(2) Dị ka ihe atụ ntụgharị ntụgharị nke mgbanaka dị n'ime na nke mpụta na-agbanwe agbanwe, a na-ejikọta usoro ntụgharị nke na-adịghị mma, na njirimara adịghị ike ya na-egosi na Figure 2b.
(3) N'ihi enweghị ike nke usoro siri ike na-adịghị mma
[12]
, Isi ike nke mgbanaka na-agbanwe agbanwe kwesịrị ịdị ihe dịka zero na karịa efu, dị ka egosiri na Figure 2c.
1.3 Nkọwa nke usoro mmiri crank
Dị ka akwụkwọ akụkọ [4] si kwuo, enwere ike wuo mgbanaka na-agbanwe agbanwe nke efu site na iwebata mmiri nke nwere nrụrụ n'etiti ahụ siri ike na-agagharị na ahụ siri ike nke mgbanaka na-agbanwe agbanwe. Maka mgbanaka nke ime na mpụta na-agbanwe agbanwe egosiri na FIG. 1, a na-ebute mmiri n'etiti mgbanaka dị n'ime na mgbanaka mpụta, ya bụ, a na-ebute usoro mmiri-crank (SCM). N'ịtụ aka na usoro mmịfe crank nke egosiri na eserese 3, a na-egosipụta paramita metụtara nke usoro mmiri mmiri crank na eserese 4. Usoro crank-mmiri mejupụtara crank na mmiri (tọrọ isi ike dị ka k). akụkụ mbụ bụ akụkụ agụnyere n'etiti crank AB na isi AC mgbe mmiri na-adịghị edozi. R na-anọchi anya ogologo crank, l na-anọchi anya ogologo isi, ma na-akọwa oke ogologo crank dị ka oke nke r ruo l, I .e. = r/l (0<<1).
Ihe owuwu nke usoro crank-spring chọrọ mkpebi nke 4 paramita: ogologo ntọala l, ogologo crank, akụkụ mbụ na isi ike mmiri K.
E gosipụtara nrụrụ nke usoro mmiri crank n'okpuru ike na eserese 5a, ugbu a M
γ
N'okpuru omume ahụ, crank na-esi na ọnọdụ mbụ AB
Beta
tụgharịa na AB
γ
, n'oge usoro ntụgharị, akụkụ agụnyere nke crank na-adabere na ọnọdụ kwụ ọtọ
γ
akpọ crank akụkụ.
Nyocha nyocha na-egosi na crank na-atụgharị site na AB (ọnọdụ mbụ, M & gamma; Zero) ruo AB0 (“ihe nwụrụ anwụ”ọnọdụ, M
γ
bụ efu), usoro crank-mmiri nwere nrụrụ nwere njirimara isi ike na-adịghị mma.
1.4 Mmekọrịta dị n'etiti torque na ntụgharị akụkụ nke crank spring usoro
Na fig. 5, ike nke M & gamma; n'akụkụ elekere dị mma, akụkụ crank & gamma; n'akụkụ elekere anya dị mma, na oge ibu M ka a na-egosipụta ma nyochaa n'okpuru.
γ
na crank akụkụ
γ
Mmekọrịta dị n'etiti usoro nhazi ahụ bụ akụkụ.
Dị ka egosiri na eserese 5b, nha nha nha nha maka crank AB & gamma depụtara.
Na usoro, F & gamma; bụ ike iweghachi mmiri, d & gamma; bụ F & gamma; ruo n'ókè A. Were ya na mmekọrita nchụpụ-ibu nke mmiri bụ
N'ime usoro ahụ, K bụ isi ike mmiri (ọ bụchaghị uru mgbe niile),δ
xγ
bụ ọnụ ọgụgụ nke nrụrụ mmiri (a dị mkpụmkpụ ka ọ dị mma),δ
xγ
=|B
Beta
C| – |B
γ
C|.
Ụdị otu oge (3)(5), oge M
γ
na nkuku
γ
Mmekọrịta ahụ bụ
1.5 Nyocha nke àgwà isi ike na-adịghị mma nke usoro crank-spring
Iji kwado nyocha nke njirimara isi ike na-adịghị mma nke usoro crank-spring (oge M
γ
na nkuku
γ
Mmekọrịta), enwere ike iche na mmiri ahụ nwere isi ike kwụ ọtọ, yabụ enwere ike idegharị usoro (4) dị ka
Na usoro, Kconst bụ ihe na-adịgide adịgide karịa efu. Mgbe a na-ekpebi oke nke hinge na-agbanwe agbanwe, a na-ekpebikwa ogologo l nke isi. Ya mere, na-eche na l bụ ihe na-adịgide adịgide, enwere ike idegharị usoro (6) dị ka
ebe Kconstl2 na-adịgide karịa efu, yana ọnụọgụ oge m & gamma; nwere akụkụ nke otu. Enwere ike nweta njirimara isi ike na-adịghị mma nke usoro crank-spring site na nyochaa mmekọrịta dị n'etiti ọnụọgụ ọnụọgụ m. & gamma; na akụkụ ntụgharị & gamma.
Site na nhata (9), eserese 6 na-egosi akụkụ mbụ =π njikọ dị n'etiti m & gamma; na crank ogologo ruru na ntụgharị akụkụ & gamma; & isi; [0.1, 0.9],& gamma;& isi;[0, π]. Ọgụgụ 7 na-egosi njikọ dị n'etiti m & gamma; na ntụgharị akụkụ & gamma; maka = 0.2 na dị iche iche. Ọgụgụ 8 na-egosi =π Mgbe, n'okpuru dị iche iche, mmekọrịta dị n'etiti m & gamma; na akụkụ & gamma.
Dị ka nkọwa nke crank spring usoro (ngalaba 1.3) na usoro (9), mgbe k na l na-adịgide adịgide, m & gamma; Naanị ihe metụtara akụkụ & gamma;, oke ogologo crank na akụkụ mbụ crank.
(1) Ọ bụrụ naanị ma ọ bụrụ & gamma; hà nhata 0 ma ọ bụπ ma ọ bụ ,m & gamma; hà nhata na efu; & gamma; & isi;[0,],m & gamma; dị ukwuu karịa efu; & gamma; & isi;[π],m & gamma; erughị efu. & isi;[0,],m & gamma; dị ukwuu karịa efu; & gamma;& isi;[π],m & gamma; erughị efu.
(2) & gamma; Mgbe [0,], akụkụ ntụgharị & gamma; na-abawanye, m & gamma; na-abawanye site na efu ruo n'akuku inflection & gamma;0 na-ewe oke uru m & gamma; max, wee jiri nwayọọ nwayọọ na-ebelata.
(3) The ọjọọ stiifness e ji mara nso nke crank mmiri usoro: & gamma;& isi;[0, & gamma;0], n'oge a & gamma; na-abawanye (na elekere elekere), na torque M & gamma; na-abawanye (na elekere). The inflection point akụkụ & gamma; 0 bụ akụkụ ntụgharị kachasị nke njirimara isi ike na-adịghị mma nke usoro crank-spring na & gamma;0 & isi;[0,];m & gamma; max bụ ọnụọgụ oge na-adịghị mma kacha. Nyere na , mwepụta nke nhata (9) na-amịpụta & gamma;0
(4) nnukwu akụkụ mbụ, & gamma; nke buru ibu, 0 m
γ kacha
ibu.
(5) nke ukwuu ogologo ruru, & gamma; nke nta 0, m
γ kacha
ibu.
Karịsịa, =πÀgwà isi ike na-adịghị mma nke usoro mmiri crank bụ ihe kachasị mma (nke dị n'akụkụ isi ike na-adịghị mma bụ nnukwu, na ike nke nwere ike inye bụ nnukwu). =πN'otu oge ahụ, n'okpuru ọnọdụ dị iche iche, akụkụ ntụgharị kachasị elu & gamma nke àgwà isi ike na-adịghị mma nke usoro mmiri crank; 0 na oke ọnụọgụ ike na-adịghị mma m & gamma; Edepụtara Max na tebụl 1.
Tebụl 1 Akụkụ mbụ bụπ Akụkụ isi ike adịghị mma kachasị & gamma; 0 na ọnụọgụ oge kachasị elu n'okpuru oke ogologo crank dị iche iche
γ kacha
oke
uru
oke ogologo crank
0.1
0.2
0.3
0.4
0.5
Ogologo ntụgharị kacha elu & gamma;
0
/ rad
0.98
0.91
0.84
0.76
0.68
Ọnụ ọgụgụ kacha elu oge m
γ kacha
0.013
0.055
0.13
0.23
0.37
2 Ewu nke efu-isiri ike mgbanwe hinge
E gosipụtara ndakọrịta nke ịdị mma na nke na-adịghị mma nke 2.1 na Figure 9, n (n 2) otu nke usoro crank spring usoro na-ekesa nke ọma na gburugburu gburugburu, na-eme ka usoro siri ike na-adịghị mma dabara na mgbanaka na-agbanwe n'ime na mpụta.
Iji mgbanaka ime n'ime na mpụta na-agbanwe agbanwe dị ka sistemu isi ike dị mma, wuo mgbanaka na-agbanwe agbanwe efu. Iji nweta isi ike efu, dakọtara nke ọma na adịghị mma
otu oge (2), (3), (6), (11), na & gamma;=θ, ibu F & enwere ike nweta gamma nke mmiri; na nchụpụδMmekọrịta nke x & gamma; bụ
Dị ka akụkụ nke 1.5 si kwuo, akụkụ akụkụ isi ike na-adịghị mma nke usoro mmiri crank: & gamma;& isi;[0, & gamma;0] na & gamma;0 & isin;[0,], strok nke ihe nkwụsi ike na-agbanwe agbanwe efu ga-adị obere karịa & gamma;0, i.e. mmiri na-adị mgbe niile na ọnọdụ nkwarụ (δxγ≠0). Ogologo ntụgharị nke ime na mpụta mgbanaka na-agbanwe hinges bụ±0.35 rad±20°), mee ka ọrụ trigonometric dị mfe & gamma; na cos & gamma; dị ka ndị a
Mgbe emechara ka ọ dị mfe, njikọ ibu-ngbanwe nke mmiri
2.2 Njehie nyocha nke ihe nlereanya dabara adaba nke ọma na nke na-adịghị mma
Nyochaa njehie nke usoro ọgwụgwọ dị mfe nke nhata kpatara (13). Dị ka usoro nhazi n'ezie nke efu stiffness na-agbanwe hinge (Ngalaba 4.2): n = 3,l = 40mm, =π, = 0.2,E = 73 GPA; Akụkụ nke n'ime na mpụta mgbanaka na-agbanwe hinge ahịhịa L = 46mm, T = 0.3mm, W = 9.4mm; Usoro ntụnyere (12) na (14) na-eme ka mmekọrịta mbupụ ibu dị mfe yana njehie nke ihu na azụ dị ka egosiri na Figure 10a na 10b n'otu n'otu.
Dị ka e gosiri na foto 10. & gamma; erughị 0.35 rad20°), njehie ikwu na-akpata site na ọgwụgwọ dị mfe na ngbanwe nke ibu ibu anaghị agafe 2.0%, na usoro ahụ.
Enwere ike iji ọgwụgwọ dị mfe nke (13) wuo mgbanaka na-agbanwe agbanwe efu.
2.3 Njirimara isi ike nke mmiri
Na-eche na isi ike nke mmiri bụ K, otu oge (3), (6), (14)
Dị ka n'ezie nhazi paramita nke efu stiffness mgbanwe hinge (Ngalaba 4.2), mgbanwe usoro nke mmiri isi ike K na akụkụ. & gamma; ka egosiri na eserese 11. Karịsịa, mgbe & gamma;= 0, K na-ewere uru kacha nta.
Maka ịdị mma nke imewe na nhazi, mmiri ahụ na-anabata mmiri isi ike ziri ezi, na isi ike bụ Kconst. N'ime ọrịa strok dum, ọ bụrụ na ngụkọta isi ike nke ihe nkwụsi ike na-agbanwe agbanwe karịrị ma ọ bụ nhata na efu, Kconst kwesịrị iwere uru kacha nta nke K.
Nha nhata (16) bụ uru isi ike nke mmiri isi ike kwụ ọtọ mgbe ị na-arụ ihe nrịbama na-agbanwe efu efu. 2.4 Ntụle nke ịdị mma efu efu Mmekọrịta mbugharị ibu nke mgbanaka na-agbanwe efu efu.
Enwere ike nweta usoro nke otu oge (2), (8), (16).
Iji nyochaa ịdị mma nke isi ike efu, mbelata oke nke nkwụsi ike na-agbanwe agbanwe tupu na mgbe agbakwunyere modul isi ike na-adịghị mma ka akọwara dị ka ọnụọgụ ịdị mma efu efu.ηη Ihe dị nso na 100%, nke dị elu nke ịdị elu efu efu. Foto nke 12 bụ 1-η Mmekọrịta na oke ogologo crank na akụkụ mbụ η Ọ na-adabere na ọnụ ọgụgụ n nke usoro crank-spring usoro na ogologo l nke isi, ma ọ bụ naanị metụtara crank ogologo ruru , ntụgharị ntụgharị. & gamma; na akụkụ mbụ .
(1) Akụkụ mbụ na-abawanye ma ịdị mma isi ike efu efu na-akawanye mma.
(2) Ogologo nha na-abawanye na ogo isi ike efu na-ebelata.
(3) Akụkụ & gamma; na-abawanye, ogo isi ike efu na-ebelata.
Iji meziwanye ogo isi ike efu nke efu efu na-agbanwe hinge, akụkụ mbụ kwesịrị iburu uru ka ukwuu; ogologo crank kwesịrị ịdị ntakịrị ka o kwere mee. N'otu oge ahụ, dị ka nyocha nyocha na Nkebi nke 1.5, ọ bụrụ na ọ dị ntakịrị, ike nke usoro crank-spring na-enye isi ike na-adịghị mma ga-adị ike. Iji kwalite ogo isi ike efu nke ihe nkwụsi ike efu na-agbanwe, akụkụ mbụ =π, crank ogologo ruru = 0.2, ya bụ, n'ezie nhazi parameters nke ngalaba 4.2 efu stiffness mgbanwe hinge.
Dị ka n'ezie nhazi paramita nke efu-stiffness mgbanwe hinge (Ngalaba 4.2), njikọ torque-angle n'etiti n'ime na mpụta mgbanaka na-agbanwe hinges na efu-stiffness na-agbanwe hinge na-egosi na Figure 13; mbelata nke isi ike bụ ọnụọgụ ịdịmma efu-isiηMmekọrịta na nkuku & gamma; ka egosiri na onyonyo 14. Site na onyonyo 14: Na 0.35 rad20°) ntụgharị ntụgharị, nkwụsi ike nke mgbanaka na-agbanwe agbanwe na-ebelata site na nkezi nke 97%; 0.26 rad15°) nkuku, ọ na-ebelata 95%.
3 Nhazi nke linear nti isiike mmiri
Ewu nke efu stiffness na-agbanwe hinge na-abụkarị mgbe a na-ekpebi nha na ịdị arọ nke mgbanaka na-agbanwe agbanwe, mgbe ahụ, a na-atụgharị isi ike nke mmiri na usoro mmiri crank, n'ihi ya, ihe ndị na-achọsi ike na nha chọrọ nke mmiri ahụ dị ntakịrị. Na mgbakwunye, akụkụ mbụ =π, site na foto 5a, n'oge ntụgharị nke nkwụsị nke efu na-agbanwe agbanwe, mmiri na-adị mgbe niile na ọnọdụ mgbagwoju anya, ya bụ.“Mmiri mkpakọ”.
Isi ike na nha nke isi iyi mkpakọ ọdịnala siri ike ịhazi ya nke ọma, a na-achọkarị usoro ntuziaka na ngwa. Ya mere, a na-atụpụta isi iyi nke isi ike na nha ya nwere ike ịhazi ya——eriri mmiri mmiri nke yiri diamond. Eriri ahịrị mmiri akwụkwọ ekara diamond (Fọlụ 15) nwere ọtụtụ isi iyi akwụkwọ nwere ụdị diamond jikọtara n'usoro. Ọ nwere njirimara nke nhazi nhazi n'efu na ogo dị elu nke nhazi. Nkà na ụzụ nhazi ya kwekọrọ na nke hinges na-agbanwe agbanwe, a na-edozi ha abụọ site na ịcha waya ziri ezi.
3.1 Ihe nfegharị ibu nke eriri mmiri akwụkwọ nwere ụdị diamond
N'ihi nhụsianya nke mmiri akwụkwọ rhombic, ọ bụ naanị otu akwụkwọ mmiri ka a ga-etinye na nyocha nrụgide, dị ka egosiri na eserese 16. α bụ akụkụ dị n'etiti ahịhịa amị na kehoraizin, ogologo, obosara na ọkpụrụkpụ nke ahịhịa amị bụ Ld, Wd, Td otu, f bụ dimensionally dị n'otu ibu na rhombus akwukwo mmiri,δy bụ nrụrụ nke rhombic leaf spring na y direction, force fy na moment m bụ ihe nhata ibu na njedebe nke otu ahịhịa amị, fv na fw bụ components Forces of fy na wov coordinate system.
Dị ka echiche nrụrụ beam nke AWTAR[13] siri dị, njikọ mbugharị ibu na-ejikọta ọnụ nke otu ahịhịa amị.
N'ihi njikọ mgbochi nke ahụ siri ike na ahịhịa amị ahụ, akụkụ njedebe nke ahịhịa amị tupu na mgbe deformation bụ efu, ya bụ.θ = 0. N'otu oge (20) (22)
Nha nhata (23) bụ ihe nfegharị akụkụ akụkụ nke ịdị n'otu nke akwụkwọ mmiri rhombic. n2 rhombic akwukwo mmiri na-ejikọta na usoro, na ibu-ntugharị ihe nlereanya bụ
Site na usoro (24), mgbeαMgbe d dị ntakịrị, isi ike nke eriri mmiri nke akwụkwọ nwere ọdịdị diamond bụ ihe dị ka linear n'okpuru ụdị a na-ahụkarị na ibu.
3.2 Nnwale ịme anwansị ngwụcha nke ihe nlereanya ahụ
A na-eme nkwenye ịme anwansị ngwụcha nke ihe nfefe ibu nke akwụkwọ mmiri nwere ụdị diamond. N'iji ANSYS Mechanical APDL 15.0, a na-egosipụta paramita simulation na Tebụl 2, ma a na-etinye nrụgide nke 8 N na mmiri akwụkwọ nwere ọdịdị diamond.
Tebụl 2 Oke ịme anwansị mmewere nke eriri mmiri rhombic leaf
oke
uru
Ihe onwundụ
AL7075-T6
Ogologo ahịhịa L
Nke a
/mm
18
Obosara ahịhịa amị W
Nke a
/mm
10
Ọkpụrụkpụ Reed T
Nke a
/mm
0.25
nkuku nku amịα/°
10/20/30/40
Elastic modul E/GPa
73
Ntụnyere n'etiti ihe nlereanya na nsonaazụ ịme anwansị nke rhombus leaf spring ibu-njeghari mmekọrịta e gosiri na fig. 17 (dimensionalization). Maka isi mmiri rhombus anọ nwere akụkụ echiche dị iche iche, njehie ikwu n'etiti ihe nlereanya ahụ na nsonaazụ ịme anwansị adịghị agafe 1.5%. Achọpụtara izi ezi na izi ezi nke ihe nlereanya (24).
4 Nhazi na nnwale nke mgbanaka na-agbanwe agbanwe efu
4.1 Parameter chepụta nke mgbanaka efu na-agbanwe agbanwe
Iji chepụta mgbanaka na-agbanwe agbanwe na-enweghị isi, a ga-ekpebi usoro nhazi nke hinge na-agbanwe agbanwe dị ka ọnọdụ ọrụ si dị na mbụ, wee gbakọọ ihe ndị dị mkpa nke usoro mmiri crank na-agbanwe agbanwe.
4.1.1 paramita hinge na-agbanwe agbanwe
Ebe nrutu nke ime na mpụta mgbanaka mgbanaka na-agbanwe agbanwe dị na 12.73% nke ogologo ahịhịa amị ahụ, a na-egosikwa paramita ya na tebụl 3. Dochie n'ime nha anya (2), njikọ nkuku mgbanaka nke ime na mpụta mgbanaka na-agbanwe agbanwe bụ.
Tebụl 3 Akụkụ ihe owuwu na ihe onwunwe nke mgbanaka ime na mpụta na-agbanwe hinges
oke
uru
Ihe onwundụ
AL7075-T6
Ogologo ahịhịa amị L/mm
46
Obosara ahịhịa amị W/mm
9.4
Ọkpụrụkpụ ahịhịa amị T/mm
0.30
Elastic modul E/GPa
73
4.1.2 Usoro usoro isi ike na-adịghị mma
Dị ka e gosiri na fig. 18, na-ewere ọnụ ọgụgụ n nke usoro mmiri crank n'otu n'otu dị ka 3, ogologo l = 40 mm na-ekpebi nha nke hinge na-agbanwe agbanwe. dị ka njedebe nke ngalaba 2.4 si dị, akụkụ mbụ =π, oke ogologo crank = 0.2. Dị ka nhata (16), isi ike nke mmiri (I .e. eriri akwụkwọ mmiri diamond) bụ Kconst = 558.81 N/m (26)
4.1.3 Diamond akwukwo mmiri eriri oke
site l = 40mm, =π, = 0.2, ogologo oge mbụ nke mmiri bụ 48mm, na nrụrụ kachasị (& gamma;= 0) bụ 16mm. N'ihi njedebe nhazi, ọ na-esiri ike otu mmiri akwụkwọ rhombus iji mepụta nnukwu nrụrụ dị otú ahụ. N'iji isi iyi akwukwo rhombus anọ n'usoro (n2 = 4), isi ike nke otu rhombus akwukwo mmiri bụ.
Kd=4Kconst=2235.2 N/m (27)
Dị ka nha nke usoro isi ike na-adịghị mma (Nyocha 18), nyere ogologo ahịhịa amị, obosara na akụkụ mkpara ahịhịa nke akwụkwọ mmiri nwere ụdị diamond, enwere ike iwepụ ahịhịa amị ahụ site na usoro (23) na usoro isi ike (27) nke akwukwo mmiri nke yiri diamond Ọkpụrụkpụ. Edepụtara usoro nhazi nke isi iyi akwụkwọ rhombus na tebụl 4.
elu4
Na nchịkọta, ekpebiela paramita nke mgbanaka na-agbanwe agbanwe efu na-adabere na usoro mmiri crank, dị ka egosiri na Tebụl 3 na Tebụl 4.
4.2 Nhazi na nhazi nke ihe nlele hinge na-agbanwe agbanwe na-ezo aka na akwụkwọ [8] maka nhazi na usoro nyocha nke mgbanaka na-agbanwe agbanwe. Ihe mgbanaka na-agbanwe agbanwe na-enweghị isi bụ nke usoro isi ike na-adịghị mma yana mgbanaka ime na mpụta na-agbanwe agbanwe n'otu aka ahụ. E gosipụtara nhazi nhazi ahụ na eserese 19.
A na-ahazi ma mgbanaka ime na mpụta na-agbanwe agbanwe na eriri mmiri nke nwere ụdị diamond site na ngwaọrụ igwe na-egbutu waya nkenke. A na-edozi mgbanaka na-agbanwe n'ime na mpụta ma gbakọta n'ígwé. Onyonyo 20 bụ ihe onyonyo anụ ahụ nke eriri mmiri nke nwere akwụkwọ atọ nwere ụdị diamond, yana eserese 21 bụ ihe ejikọtara efu na-esighi ike Foto anụ ahụ nke nlele hinge na-agbanwe agbanwe.
4.3 Ntụle nlegharị anya nlegharị anya nke mgbanaka efu na-agbanwe agbanwe N'ịtụ aka na usoro ule isi ike na-atụgharị na [8], a na-ewupụta ikpo okwu nlele ike nke ntụgharị efu nke mgbanaka na-agbanwe agbanwe, dịka egosiri na eserese 22.
4.4 Nhazi data nyocha na nyocha njehie
A nwalere mgbanaka ngbanwe nke ime na mpụta mgbanaka na-agbanwe agbanwe na mgbanaka efu na-agbanwe agbanwe n'elu ikpo okwu ule, na nsonaazụ ule gosipụtara na eserese 23. Gbakọọ wee see usoro ịdị mma efu nke isi ike na-agbanwe agbanwe dịka usoro (19), dị ka egosiri na fig. 24.
Nsonaazụ ule na-egosi na ngbanwe ntụgharị nke mgbanaka na-agbanwe efu efu dị nso na efu. Tụnyere mgbanaka nke ime na mpụta na-agbanwe agbanwe, ihe mgbanaka efu na-agbanwe agbanwe±0.31 rad18°) e belatara isi ike site na nkezi nke 93%; 0.26 nkeji15°), isi ike na-ebelata site na 90%.
Dị ka e gosiri na Figure 23 na 24, a ka nwere ụfọdụ ọdịiche dị n'etiti ule ule nke efu stiffness àgwà na theoretical nlereanya pụta (njehie ikwu bụ ihe na-erughị 15%), na isi ihe kpatara njehie bụ ndị a.
(1) Njehie ihe nlereanya kpatara site na mfe nke ọrụ trigonometric.
(2) Esemokwu. Enwere esemokwu n'etiti eriri mmiri nke akwukwo diamond na ogwe mgbago.
(3) Njehie nhazi. Enwere mperi na nha nke ahịhịa amị, wdg.
(4) Njehie mgbakọ. Ọdịiche dị n'etiti oghere ntinye nke eriri mmiri na-acha akwụkwọ ndụ diamond na ogwe, oghere ntinye nke ngwaọrụ ikpo okwu ule, wdg.
4.5 ntụnyere arụmọrụ yana ihe nrịba ama na-agbanwe agbanwe efu na akwụkwọ [4], ejiri mkpịrịsị mpịachi nke cross-axis (CAFP) rụọ ya na eserese 25.
Ntụle nke mgbanaka efu na-agbanwe agbanwe ZSFP_IORFP (Fig. 21) na ZSFP_CAFP (Fig. 25) wuru site na iji mgbanaka ime na mpụta na-agbanwe agbanwe
(1) ZSFP_IORFP, nhazi ahụ bụ kọmpat karịa.
(2) Akụkụ akụkụ nke ZSFP_IORFP dị obere. Oghere nkuku na-ejedebe site na nkuku nke nkuku na-agbanwe agbanwe n'onwe ya; akụkụ akụkụ nke ZSFP_CAFP80°, ZSFP_IORFP nso nkuku40°.
(3) ±18°N'akụkụ akụkụ, ZSFP_IORFP nwere ogo dị elu nke isi ike efu. Nkezi isi ike nke ZSFP_CAFP na-ebelata site na 87%, na nkezi isi ike nke ZSFP_IORFP na-ebelata site na 93%.
5 mmechi
Na-ewere mgbanaka na-agbanwe agbanwe nke ime na mpụta mgbanaka n'okpuru torque dị ọcha dị ka usoro subsystem nke isi ike dị mma, arụ ọrụ na-esonụ iji wuo ihe mgbanaka efu efu.
(1) Wepụta usoro ntụgharị isi ike na-adịghị mma——Maka usoro mmiri crank, e guzobere ihe nlereanya (Formula (6)) iji nyochaa mmetụta nke usoro nhazi na njirimara isi ike ya na-adịghị mma, na e nyere nso nso nke àgwà isi ike ya (Table 1).
(2) Site n'ikwekọ nkwekọ dị mma na nke na-adịghị mma, a na-enweta njirimara isi ike nke mmiri na usoro mmiri crank (Nha nhata (16)), na-eguzobe ihe nlereanya (Equation (19)) iji nyochaa mmetụta nke usoro nhazi. nke crank spring usoro on efu stiffness àgwà nke efu isiike na-agbanwe hinge mmetụta, theoretically, n'ime strok dị strok nke mgbanwe mgbanaka nke ime na mpụta yiri mgbaaka (±20°), nkezi mbelata na isi ike nwere ike iru 97%.
(3) Wepụta ihe isiike nwere ike ịhazi ya“mmiri”——E hiwere eriri mmiri n'ụdị ola diamond iji guzobe ụdị isi ike ya (Nha nhata (23)) wee gosi ya site na usoro mmewere nwere oke.
(4) Emechara nhazi, nhazi na nnwale nke ihe nleba anya na-agbanwe agbanwe efu efu. Nsonaazụ ule na-egosi na: n'okpuru ọrụ nke torque dị ọcha, nke36°N'ebe dị iche iche nke ntụgharị ntụgharị, ma e jiri ya tụnyere mgbanaka dị n'ime na nke mpụta na-agbanwe agbanwe, nkwụsi ike nke nkwụsị nke efu efu na-ebelata site na 93% na nkezi.
Ihe mgbakwasị ụkwụ na-agbanwe agbanwe efu na-enweghị isi bụ naanị n'okpuru ọrụ nke torque dị ọcha, nke nwere ike ịghọta“efu isiike”, na-atụleghị okwu nke ibu mgbagwoju loading ọnọdụ. Ya mere, owuwu nke efu-isi ike na-agbanwe hinges n'okpuru ọnọdụ ibu dị mgbagwoju anya bụ ihe na-elekwasị anya na nyocha ọzọ. Tụkwasị na nke ahụ, ibelata esemokwu dị n'oge mmegharị nke ihe nkwụnye efu na-agbanwe agbanwe bụ ntụziaka dị mkpa maka njikarịcha na-agbanwe agbanwe.
ntụaka
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[2] Yu Jingjun, Pei Xu, Bi Shusheng, wdg. Ọganihu nyocha na ụzọ imewe nke usoro hinge na-agbanwe agbanwe[J]. Akwụkwọ akụkọ Chinese nke Mechanical Engineering, 2010, 46 (13): 2-13. Onye mmeri, PEI X U, BIS kpọọ, ETA elu. Usoro nka nke nka nka maka usoro mgbanwe[J]. Akwụkwọ akụkọ nke Mechanical Engineering, 2010, 46 (13): 2-13.
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[4] MERRIAM E G, Howell L L. Ụzọ na-abụghị akụkụ maka nguzozi kwụ ọtọ nke mgbanwe mgbanwe mgbanwe[J]. Mechanism & Ozizi igwe, 2015, 84 (84): 90-98.
[5] HOETMER K, Woo G, Kim C, et al. Ihe mgbochi ụlọ ihe isi ike na-adịghị mma maka usoro ndabara n'ụzọ ziri ezi: Nhazi na nnwale[J]. Akwụkwọ akụkọ Mechanisms & Robotics, 2010, 2 (4): 041007.
[6] JENSEN B D, Howell L. Nlereanya nke cross-axis flexural pivots[J]. Usoro nhazi na usoro igwe, 2002, 37 (5): 461-476.
[7] WITTRICK W H. Njirimara nke pivots flexure gafere na mmetụta nke ebe ibe ibe ahụ gafere[J]. The Aeronautical Quarterly, 1951, II: 272-292.
[8] l IU l, BIS, yang Q, ETA. Nhazi na nnwale nke pivots mgbanwe okpukpu atọ-cross-mmiri agbakọtara ọnụ etinyere na ngwa dị oke oke[J]. Nyochaa akụrụngwa sayensị, 2014, 85 (10): 105102.
[9] Yang Qizi, Liu Lang, Bi Shusheng, wdg. Nchọcha na njiri mara isi ike na-atụgharị nke ahịhịa amị na-agbanwe agbanwe n'ozuzu ya[J]. Akwụkwọ akụkọ Chinese nke Mechanical Engineering, 2015, 51 (13): 189-195.
yang Q m okwu, l IU Lang, olu BIS, ETA. Njikere Ntugharị Ntugharị Ntugharị Flexure Triple-cross-spring [J]. Akwụkwọ akụkọ nke Mechanical Engineering, 2015, 51 (13): 189-195.
[10] l IU l, Zhao H, BIS, ETA. Nchoputa nke Ntule Ntule nke Topology Structure of Cross-Spring Flexural Pivots[C]// ASME 2014 International Design Engineering Technical Conferences na Computers and Information in Engineering Conference, August 17–Ọktoba 20, 2014, Buffalo, New York, USA. ASME, 2014 : V05AT08A025.
[11] l IU l, BIS, yang Q. Njirimara isi ike nke ime–Mgbanwe mgbanaka mgbanaka mpụta etinyere na ngwa ngwa dị oke oke[J]. Usoro ARCHIVE nke Ụlọ Ọrụ Na-ahụ Maka Mechanical Engineers Part C Journal of Mechanical Engineering Science 1989-1996 (vols 203-210), 2017: 095440621772172.
[12] SANCHEZ J A G. Nka n'ihi na Static Bancing of Compliant Mechanisms[C]// ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 15–18, 2010, Montreal, Quebec, Canada. ASME, 2010:465-473.
[13] AWTAR S, Sen S. Nlereanya mgbochi n'ozuzu maka ntughari ntugharị akụkụ abụọ: Nhazi ume ike na-adịghị na ntanetị[J]. Akwụkwọ akụkọ Mechanical Design, 2010, 132: 81009.
Banyere onye edemede: Bi Shusheng (onye edemede kwekọrọ), nwoke, a mụrụ na 1966, dọkịta, prọfesọ, onye nlekọta doctoral. Ntuziaka nyocha ya bụ isi bụ usoro na-agbanwe agbanwe na robot bionic.
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