Chidule: Kuuma kozungulira kwa hinji yosunthika ya zero ndi pafupifupi ziro, zomwe zimagonjetsa chilema chomwe mahinji osinthika wamba amafunikira torque yoyendetsa, ndipo atha kuyikidwa pa ma gripper osinthika ndi magawo ena. Kutenga mahinji osinthasintha amkati ndi akunja pansi pakuchita kwa torque yoyera ngati njira yabwino yowumitsira, kafukufuku Kachitidwe kakuuma koyipa ndi kufananiza kulimba kwabwino ndi koyipa kumatha kupanga ziro kuuma kosinthasintha. Lingalirani kachitidwe kozungulira koyipa——Crank kasupe kachitidwe, kutengera ndikusanthula mawonekedwe ake oyipa; pofananiza kuuma kwabwino ndi koyipa, kusanthula mphamvu zamapangidwe a makina a crank spring pa kuuma kwa zero; anakonza kasupe liniya ndi kuuma customizable ndi kukula——Chingwe cha masika amtundu wa diamondi, mtundu wowuma unakhazikitsidwa ndipo kutsimikizika kwazinthu zofananirako kunachitika; potsiriza, mapangidwe, kukonza ndi kuyesa kwa compact zero-stiffness flexible hinge sample anamalizidwa. Zotsatira zoyeserera zidawonetsa kuti: pansi pakuchita kwa torque yoyera,±18°M'makona ozungulira, kuuma kozungulira kwa hinji ya zero-stiffness flexible ndi 93% kutsika kuposa mahinji amkati ndi akunja osinthasintha pafupipafupi. Hinge yosinthika ya zero-stiffness ili ndi mawonekedwe ophatikizika komanso kuuma kwapamwamba kwa zero; kachitidwe kozungulira koyipa kokhazikika ndi mzere Kumasika kuli ndi phindu lalikulu pakuwerengera makina osinthika.

0 mawu oyamba

Hinge yosinthika (yonyamula)

^[1-2]

Kudalira mapindikidwe osinthika a gawo losinthika kuti atumize kapena kutembenuza zoyenda, mphamvu ndi mphamvu, zakhala zikugwiritsidwa ntchito kwambiri pakuyika bwino komanso magawo ena. Poyerekeza ndi mayendedwe okhazikika achikhalidwe, pali mphindi yobwezeretsa pamene hinge yosinthika imazungulira. Chifukwa chake, gawo loyendetsa liyenera kupereka torque yotulutsa kuti muyendetse ndikusunga kuzungulira kwa hinge yosinthika. Zero kuuma kosinthika hinge

^[3]

(Zero stiffness flexural pivot, ZSFP) ndi cholumikizira chosinthasintha chomwe kulimba kwake kumakhala pafupifupi ziro. Hinge yamtundu uwu imatha kukhala pamalo aliwonse mkati mwa sitiroko, yomwe imadziwikanso kuti static balance flexible hinge.

^[4]

, amagwiritsidwa ntchito kwambiri m'minda monga flexible grippers.

Kutengera lingaliro lokhazikika la makina osinthika, dongosolo lonse la zero-stiffness flexible hinge system litha kugawidwa m'magawo awiri a kuuma kwabwino ndi koyipa, ndipo dongosolo la zero-stiffness limatha kuzindikirika pofananiza kuuma kwabwino ndi koyipa.

^[5]

. Pakati pawo, kagawo kakang'ono kolimba kabwino kamakhala ka hinji kakang'ono kosunthika, monga hinge yosinthika ya bango.

^[6-7]

, hinji yosinthasintha ya bango itatu

^[8-9]

ndi mahinji a mphete amkati ndi akunja osinthika

^[10-11]

Ndinkho. Pakadali pano, kafukufuku wamahinji osinthika apeza zotsatira zambiri, chifukwa chake, chinsinsi chopangira ziro-ouma zosinthika ndikugwirizanitsa ma modulo olimba olimba a hinges osinthika[3].

Mahinji osinthasintha amkati ndi akunja (mapivoti a mphete amkati ndi akunja, IORFP) ali ndi mawonekedwe abwino kwambiri potengera kuuma, kulondola komanso kusuntha kwa kutentha. Module yofananira yowumayo imapereka njira yomangira hinge yokhazikika ya zero, ndipo pamapeto pake, imamaliza kupanga, kukonza zitsanzo ndikuyesa hinge yosinthika ya zero-stiffness.

1 makina opangira masika

1.1 Tanthauzo la kuuma koyipa

Tanthauzo la kuuma K ndi kuchuluka kwa kusintha pakati pa katundu F wonyamulidwa ndi chinthu chotanuka ndi deformation yofananira dx.

K= dF/dx (1)

Pamene kuwonjezeka kwa katundu wa zinthu zotanuka kumatsutsana ndi chizindikiro cha kuwonjezereka kofananako, ndiko kuuma koipa. Mwathupi, kuuma koyipa kumafanana ndi kusakhazikika kwazinthu zotanuka

^[12]

.Njira zosaumitsa zowonongeka zimakhala ndi gawo lofunika kwambiri pamagulu osinthika a static balance. Nthawi zambiri, njira zowumitsa zoyipa zimakhala ndi izi.

(1) Makinawa amasunga kuchuluka kwa mphamvu kapena amakumana ndi kusintha kwina.

(2) Makinawa ali muvuto lalikulu losakhazikika.

(3) Pamene makinawo akusokonezedwa pang'ono ndikusiya malo oyenerera, amatha kumasula mphamvu yaikulu, yomwe imakhala yofanana ndi kayendetsedwe kake.

1.2 Mfundo yomanga ya zero-stiffness flexible hinge

Hinge yosunthika ya zero imatha kupangidwa pogwiritsa ntchito kufananiza kwabwino komanso koyipa, ndipo mfundoyi ikuwonetsedwa pachithunzi 2.

(1) Pogwiritsa ntchito torque yeniyeni, mahinji osinthasintha amkati ndi akunja amakhala ndi ubale wozungulira mozungulira, monga momwe chithunzi 2a chikuwonera. Makamaka, pamene mphambanoyo ili pa 12.73% ya kutalika kwa bango, ubale wozungulira wa torque ndi mzere.

^[11]

, panthawiyi, mphindi yobwezeretsa Mpivot (njira yowongoka) ya hinge yosinthika ikugwirizana ndi ngodya yozungulira.θ(motsutsana ndi nthawi) ubale ndi

Mpivot=(8EI/L)θ (2)

Mu chilinganizo, E ndiye zotanuka modulus zakuthupi, L ndi kutalika kwa bango, ndipo ine ndi mphindi ya inertia ya gawolo.

(2) Malingana ndi chitsanzo cha kuuma kozungulira kwazitsulo zosinthika zamkati ndi kunja kwa mphete, njira yozungulira yozungulira imagwirizana, ndipo makhalidwe ake oipa akuwonetsedwa mu Chithunzi 2b.

(3) Poona kusakhazikika kwa makina okhwima olakwika

^[12]

, kuuma kwa hinji yokhotakhota kuyenera kukhala pafupifupi ziro ndi kukulirapo kuposa ziro, monga momwe chithunzi 2c chikusonyezera.

1.3 Tanthauzo la makina a crank spring

Malinga ndi zolemba [4], hinge yokhazikika yolimba zero imatha kupangidwa poyambitsa kasupe wopunduka pakati pa thupi loyenda lolimba ndi thupi lokhazikika la hinge yosinthika. Kwa mphete yamkati ndi yakunja yosinthika yowonetsedwa mu FIG. 1, kasupe amayambitsidwa pakati pa mphete yamkati ndi mphete yakunja, i.e., njira zopangira masika (SCM) zimayambitsidwa. Ponena za kachipangizo ka crank slider kamene kamawonetsedwa pa Chithunzi 3, magawo okhudzana ndi makina a crank spring akuwonetsedwa Chithunzi 4. Makina a crank-spring amapangidwa ndi crank ndi kasupe (kukhazikika ngati k). koyambirira koyambira ndi komwe kumaphatikizidwira pakati pa crank AB ndi maziko a AC pomwe kasupe sanapunduke. R imayimira kutalika kwa crank, l imayimira kutalika kwa maziko, ndikutanthauzira chiŵerengero cha kutalika kwa crank monga chiŵerengero cha r mpaka l, I.e. = r/l (0<<1).

Kupanga makina a crank-spring kumafuna kutsimikizika kwa magawo 4: kutalika kwa maziko l, kutalika kwa crank kutalika, ngodya yoyambira ndi kuuma kwa masika K.

Kusintha kwa makina a crank spring omwe akugwira ntchito akuwonetsedwa mu Chithunzi 5a, pakadali pano M

_{& gamma;}

Pansi pakuchitapo, crank imasuntha kuchokera pamalo oyamba AB

_Beta

kupita ku AB

_{& gamma;}

, panthawi yozungulira, mbali yophatikizika ya crank mogwirizana ndi malo opingasa

_{& gamma;}

amatchedwa crank angle.

Kusanthula koyenera kukuwonetsa kuti crank imazungulira kuchokera ku AB (malo oyamba, M & gamma; Zero mpaka AB0 (“nsonga yakufa”malo, M

_{& gamma;}

ndi ziro), makina a crank-spring ali ndi mapindikidwe okhala ndi mawonekedwe osawuma.

1.4 Ubale pakati pa torque ndi ngodya yozungulira ya crank spring mechanism

Mku. 5, torque M & gamma; clockwise ndi positive, crank angle & gamma; counterclockwise ndi zabwino, ndipo mphindi katundu M amatsatiridwa ndi kusanthula pansipa.

_{& gamma;}

ndi crank angle

_{& gamma;}

Mgwirizano wapakati pa ndondomeko yachitsanzo ndi waukulu.

Monga momwe chithunzi 5b chikusonyezera, torque balance equation ya crank AB & gamma yalembedwa.

Mu formula, F & gamma; ndi mphamvu yobwezeretsa masika, d & gamma; ndi F & gamma; ku point A. Tangoganizani kuti kusamuka-katundu ubale wa masika ndi

Mu chilinganizo, K ndiye kuuma kwa kasupe (osati kufunika kokhazikika),δ

xγ

ndi kuchuluka kwa kusinthika kwa masika (kufupikitsidwa kukhala zabwino),δ

xγ

=|B

_Beta

C| – |B

_{& gamma;}

C|.

Mtundu wofanana (3) (5), mphindi M

_{& gamma;}

ndi kona

_{& gamma;}

Ubale ndi

1.5 Kuwunika kwa mawonekedwe osawuma a makina a crank-spring

Kuti muthandizire kuwunika kwa kuuma koyipa kwa makina a crank-spring (mphindi M

_{& gamma;}

ndi kona

_{& gamma;}

ubale), zitha kuganiziridwa kuti kasupe ali ndi kuuma koyenera, ndiye kuti chilinganizo (4) chikhoza kulembedwanso ngati

Mwachidule, Kconst ndi wamkulu nthawi zonse kuposa ziro. Pambuyo pa kukula kwa hinge yosinthika kutsimikiziridwa, kutalika kwa l kwa maziko kumatsimikiziridwanso. Chifukwa chake, poganiza kuti l ndi wokhazikika, chilinganizo (6) chikhoza kulembedwanso ngati

pomwe Kconstl2 imakhala yokulirapo mosalekeza kuposa ziro, ndi mphindi coefficient m & gamma; ali ndi gawo limodzi. Makhalidwe oyipa olakwika a makina a crank-spring amatha kupezeka posanthula ubale pakati pa torque coefficient m. & gamma; ndi ngodya yozungulira & gamma.

Kuchokera ku equation (9), Chithunzi 6 chikuwonetsa ngodya yoyamba =π mgwirizano wa m & gamma; ndi kutalika kwa crank ndi ngodya yozungulira & gamma;, & izi;[0.1, 0.9],& gamma;& ine;[0, π]. Chithunzi 7 chikuwonetsa mgwirizano pakati pa m & gamma; ndi ngodya yozungulira & gamma; kwa = 0.2 ndi zosiyana . Chithunzi 8 chikuwonetsa =π Pamene, mosiyana, mgwirizano pakati pa m & gamma; ndi angle & gamma.

Malinga ndi tanthauzo la crank spring mechanism (gawo 1.3) ndi chilinganizo (9), pamene k ndi l ndizokhazikika, m & gamma; Zogwirizana ndi ngodya yokha & gamma;, chiŵerengero cha kutalika kwa crank ndi ngodya yoyambira.

(1) Ngati komanso ngati & gamma; ndi 0 kapenaπ kapena, m & gamma; ndi wofanana ndi ziro; & gamma; & izi;[0,],m & gamma; ndi wamkulu kuposa ziro; & gamma; & ine;[π],m & gamma; zosakwana ziro. & izi;[0,],m & gamma; ndi wamkulu kuposa ziro; & gamma;& ine;[π],m & gamma; zosakwana ziro.

(2) & gamma; Pamene [0, ], ngodya yozungulira & gamma; kukula, m & gamma; amawonjezeka kuchokera ku zero kupita ku inflection point angle & gamma; 0 imatenga mtengo wapamwamba kwambiri m & gamma;max, ndiyeno pang'onopang'ono amachepetsa.

(3) Kuuma koyipa kosiyanasiyana kwa makina a crank spring: & gamma;& ine;[0, & gamma;0], pa nthawi ino & gamma; kumawonjezeka (motsatira koloko), ndi torque M & gamma; kuwonjezeka (motsatira nthawi). Inflection point angle & gamma; 0 ndiye mbali yayikulu yozungulira ya kuuma koyipa kwa makina a crank-spring ndi & gamma;0 & izi;[0,];m & gamma;max ndiye kuchuluka kwa mphindi zoipa. Kupatsidwa ndi , kutengeka kwa equation (9) zokolola & gamma;0

(4) kukula kwa ngodya yoyamba, & gamma; wamkulu 0,m

_γmax

chachikulu.

(5) kukula kwa chiŵerengero cha utali, & gamma; wamng'ono 0, m

_γmax

chachikulu.

Makamaka, =πMakhalidwe oyipa olakwika a makina a crank spring ndiabwino kwambiri (makona a kuuma kwapang'onopang'ono ndi kwakukulu, ndipo torque yomwe ingaperekedwe ndi yayikulu). =πPa nthawi yomweyo, pazikhalidwe zosiyanasiyana, pazipita kasinthasintha ngodya & gamma ya kuuma kwapang'onopang'ono kwa makina opangira masika; 0 ndi koyefiyeti negative torque m & gamma; Max adalembedwa mu tebulo 1.

2 Kupanga ziro-stiffness flexible hinge

Kufanana kwa kuuma kwabwino ndi koipa kwa 2.1 kukuwonetsedwa mu Chithunzi 9, n(n 2) magulu a njira zofananira za crank spring zimagawika mozungulira mozungulira, kupanga makina owuma osagwirizana ndi mahinji osinthika amkati ndi akunja.

Pogwiritsa ntchito mahinji osinthasintha amkati ndi akunja monga njira yolimba yolimba, pangani hinji yosunthika ya zero. Kuti mukwaniritse kuuma kwa zero, fananizani ndi kuuma kwabwino ndi koyipa

nthawi imodzi (2), (3), (6), (11), ndi & gamma;=θ, katundu F & gamma ya masika ingapezeke; ndi kusamukaδMgwirizano wa x & gamma; ndi

Malinga ndi gawo 1.5, kuuma koyipa kosiyanasiyana kwa makina a crank spring: & gamma;& ine;[0, & gamma;0] ndi & gamma;0 & isin;[0, ], kugunda kwa zero stiffness flexible hinge kudzakhala kochepa kuposa & gamma;0, ine. kasupe nthawi zonse amakhala wopunduka (δxγ≠0). The kasinthasintha osiyanasiyana mkati ndi kunja mphete kusinthasintha hinges ndi±0.35 mapaundi±20°), chepetsani ntchito za trigonometric tchimo & gamma; ndi cos & gamma; motere

Pambuyo kuphweka, katundu-kusamuka ubale wa masika

2.2 Kusanthula kolakwika kwa mtundu wabwino ndi woyipa wofananira

Unikani cholakwika chomwe chinayambitsidwa ndi njira yosavuta ya equation (13). Malinga ndi magawo enieni opangira ziro stiffness flexible hinge (Gawo 4.2):n = 3,l = 40mm, =π, = 0.2,E = 73 GPA; Miyeso ya mphete yamkati ndi yakunja yosinthika bango L = 46mm, T = 0.3mm,W = 9.4mm; Mafananidwe ofananitsa (12) ndi (14) amathandizira ubale wosuntha wonyamula katundu ndi zolakwika zapatsogolo ndi akasupe akumbuyo monga momwe zikuwonekera mu Zithunzi 10a ndi 10b motsatana.

Monga momwe chithunzi 10 chikusonyezera, & gamma; ndi zosakwana 0.35 rad (20°), cholakwika chachibale chomwe chimabwera chifukwa cha chithandizo chosavuta pamayendedwe osunthika sichidutsa 2.0%, ndi chilinganizo

Chithandizo chosavuta cha (13) chitha kugwiritsidwa ntchito popanga ziro-stiffness mahinji osinthika.

2.3 Kuuma kwa masika

Kungoganiza kuti kuuma kwa kasupe ndi K, nthawi imodzi (3), (6), (14)

Malinga ndi magawo enieni a kuuma kwa zero stiffness hinge (Gawo 4.2), kusintha kokhota kwa kuuma kwa masika K ndi ngodya & gamma; ikuwonetsedwa pa Chithunzi 11. Makamaka, liti & gamma; = 0, K imatenga mtengo wocheperako.

Kuti zitheke kupanga ndi kukonza, kasupe amatenga mzere wokhazikika wokhazikika, ndipo kuuma kwake ndi Kconst. Mu sitiroko yonse, ngati kuuma kwathunthu kwa zero kuuma kusinthasintha kwa hinge kuli kwakukulu kuposa kapena kofanana ndi ziro, Kconst iyenera kutenga mtengo wocheperako wa K.

Equation (16) ndi kuchuluka kwa kuuma kwa mzere wowuma wowoneka bwino popanga ziro kuuma kosinthasintha. 2.4 Kuwunika kwa kuuma kwa zero Ubale wosuntha-katundu wa hinge yosunthika yomangidwa ndi zero ndi

Njira imodzi (2), (8), (16) ingapezeke

Pofuna kuyesa kuuma kwa zero, kutsika kwa kuuma kwa hinji kosinthika musanayambe komanso mutawonjezera gawo lolimba la zero kumatanthauzidwa ngati zero stiffness quality coefficient.η

η Kuyandikira kwa 100%, kumapangitsanso kuuma kwa zero. Chithunzi 12 ndi 1-η Kugwirizana ndi kutalika kwa crank ndi ngodya yoyambira η Zimadziyimira pawokha pa nambala n ya njira zofananira za crank-spring ndi kutalika kwa l kwa maziko, koma zimangogwirizana ndi kuchuluka kwa kutalika kwa crank, ngodya yozungulira. & gamma; ndi ngodya yoyamba .

(1) Mbali yoyamba imawonjezeka ndipo kuuma kwa zero kumapita patsogolo.

(2) Kuchuluka kwautali kumawonjezeka ndipo kuuma kwa zero kumachepa.

(3) Ngongole & gamma; kumawonjezeka, zero kuuma khalidwe amachepetsa.

Kuti muwongolere kuuma kwa zero kulimba kwa zero, koyambira koyambira kuyenera kukhala kokulirapo; chiŵerengero cha kutalika kwa crank chiyenera kukhala chaching'ono momwe zingathere. Panthawi imodzimodziyo, malinga ndi zotsatira za kusanthula mu Gawo 1.5, ngati ili laling'ono kwambiri, mphamvu ya crank-spring mechanism yopereka kuuma koipa idzakhala yofooka. Pofuna kupititsa patsogolo kuuma kwa zero kwa zero stiffness hinge yosinthika, ngodya yoyamba =π, chiŵerengero cha kutalika kwa crank = 0.2, ndiko kuti, magawo enieni a ndondomeko ya gawo 4.2 zero stiffness flexible hinge.

Malinga ndi magawo enieni opangira ziro-stiffness flexible hinge (Gawo 4.2), mgwirizano wa torque-angle pakati pa mahinji osinthasintha amkati ndi akunja ndi hinge ya zero-stiffness flexible hinge ikuwonetsedwa Chithunzi 13; kuchepa kwa kuuma ndiko kukhazikika kwa khalidwe la zero-stiffnessηMgwirizano ndi ngodya & gamma; ikuwonetsedwa pa Chithunzi 14. Ndi Chithunzi 14: Mu 0.35 rad (20°) kasinthasintha, kuuma kwa zero-stiffness flexible hinge kumachepetsedwa ndi 97%; 0.26 mapaundi (15°) kumakona, imachepetsedwa ndi 95%.

3 Mapangidwe a linear positive stiffness spring

Kupanga kwa zero stiffness flexible hinge nthawi zambiri pambuyo pa kutsimikizika kwa kukula ndi kulimba kwa hinji yosinthika, ndiyeno kuuma kwa kasupe mu kasupe wa crank kasupe kumasinthidwa, kotero kuuma ndi kukula kwa masika kumakhala kovuta. Komanso, mbali yoyamba =π, kuchokera pa Chithunzi 5a, panthawi ya kuzungulira kwa zero-stiffness hinge flexible hinge, kasupe nthawi zonse amakhala woponderezedwa, ndiko kuti.“Compress masika”.

Kuuma ndi kukula kwa akasupe oponderezana achikhalidwe ndizovuta kusintha momwe zimakhalira, ndipo njira yowongolera imafunikira nthawi zambiri pamagwiritsidwe ntchito. Chifukwa chake, kasupe yemwe kuuma kwake ndi kukula kwake kumatha kusinthidwa kumaperekedwa——Chingwe chamasamba chooneka ngati diamondi. Chingwe cha masamba ooneka ngati diamondi (Chithunzi 15) chimapangidwa ndi akasupe amasamba angapo owoneka ngati diamondi olumikizidwa motsatizana. Ili ndi mawonekedwe a kapangidwe kake kaulere komanso makonda apamwamba. Ukadaulo wake wowongolera umagwirizana ndi mahinji osinthika, ndipo onse amakonzedwa ndi kudula waya wolondola.

3.1 Mtundu wosuntha wonyamula katundu wa zingwe zamasamba zooneka ngati diamondi

Chifukwa cha kufanana kwa kasupe wa masamba a rhombic, kasupe wa masamba amodzi okha ndi omwe amafunikira kuwunika kupsinjika, monga momwe chithunzi 16 chikusonyezera. α ndi ngodya pakati pa bango ndi yopingasa, utali, m'lifupi ndi makulidwe a bango ndi Ld, Wd, Td motero, f ndiye dimensionally ogwirizana katundu pa rhombus tsamba kasupe,δy ndikusintha kwa kasupe wa masamba a rhombic mu njira ya y, mphamvu fy ndi mphindi m ndi katundu wofanana kumapeto kwa bango limodzi, fv ndi fw ndi zigawo za mphamvu za fy mu wov coordinate system.

Malinga ndi chiphunzitso cha deformation cha AWTAR[13], mgwirizano wolumikizana wonyamula katundu wa bango limodzi.

Chifukwa cha ubale wopinga wa thupi lolimba pa bango, mbali yomaliza ya bango isanayambe komanso itatha kusinthika ndi zero, ndiye kuti.θ = 0. Nthawi yomweyo (20) (22)

Equation (23) ndi mtundu wogwirizanitsa wonyamula katundu wa masamba a rhombic. N2 ma rhombic masamba akasupe amalumikizidwa motsatizana, ndipo mtundu wake wonyamula katundu ndi

Kuchokera ku formula (24), litiαd ikakhala yaying'ono, kulimba kwa chingwe chamasamba chooneka ngati diamondi kumakhala kofanana ndi miyeso ndi katundu wamba.

3.2 Kutsimikizika komaliza kofananira kwachitsanzo

Chitsimikizo chofananira chofananira chamtundu wonyamula katundu wa masika atsamba ooneka ngati diamondi amachitika. Pogwiritsa ntchito ANSYS Mechanical APDL 15.0, magawo oyerekeza akuwonetsedwa mu Table 2, ndipo kukakamiza kwa 8 N kumagwiritsidwa ntchito ku kasupe wa masamba ooneka ngati diamondi.

Kufananiza pakati pa zotsatira zachitsanzo ndi zotsatira zofananira za ubale wamtundu wa rhombus kasupe wonyamula katundu ukuwonetsedwa mkuyu. 17 (dimensionalization). Kwa akasupe anayi a masamba a rhombus okhala ndi ngodya zosiyanasiyana, zolakwika zachibale pakati pa chitsanzo ndi zotsatira zofananira zomaliza sizidutsa 1.5%. Kutsimikizika ndi kulondola kwachitsanzo (24) kwatsimikiziridwa.

4 Kupanga ndi kuyesa kwa zero-stiffness hinge yosinthika

4.1 Mapangidwe a parameter a hinge yokhazikika ya zero-stiffness

Kuti mupange hinji yosunthika yolimba zero, mapangidwe a hinji yosinthika amayenera kutsimikiziridwa molingana ndi momwe amagwirira ntchito kaye, kenako magawo ofunikira a makina a crank spring ayenera kuwerengedwa mosiyana.

4.1.1 Zosintha za hinge

Malo ophatikizika a mahinji osinthasintha amkati ndi akunja ali pa 12.73% ya kutalika kwa bango, ndipo magawo ake akuwonetsedwa mu Gulu 3. Kulowa m'malo mwa equation (2), ubale wozungulira wa torque wa mkati ndi kunja kwa mahinji osinthasintha ndi

4.1.2 Negative stiffness mechanism parameters

Monga momwe tawonetsera mkuyu. 18, kutenga nambala n ya makina a crank spring molingana ndi 3, kutalika kwa l = 40 mm kumatsimikiziridwa ndi kukula kwa hinji yosinthika. malinga ndi kutha kwa gawo 2.4, ngodya yoyamba =π, chiŵerengero cha kutalika kwa crank = 0.2. Malinga ndi equation (16), kuuma kwa masika (I.e. diamondi tsamba kasupe chingwe) ndi Kconst = 558.81 N/m (26)

4.1.3 Magawo a zingwe zamtundu wa diamondi

pa l = 40mm, =π, = 0.2, kutalika koyambirira kwa masika ndi 48mm, ndi kupunduka kwakukulu (& gamma; = 0) ndi 16mm. Chifukwa cha zofooka zamapangidwe, zimakhala zovuta kuti kasupe wa tsamba limodzi la rhombus apange kupindika kwakukulu kotere. Pogwiritsa ntchito akasupe anayi a masamba a rhombus motsatizana (n2 = 4), kuuma kwa kasupe wa tsamba limodzi la rhombus ndi

Kd=4Kconst=2235.2 N/m (27)

Malinga ndi kukula kwa stiffness limagwirira (Chithunzi 18), kupatsidwa kutalika kwa bango, m'lifupi ndi bango kupendekera ngodya ya diamondi woboola pakati tsamba kasupe, bango likhoza kutengedwa kuchokera chilinganizo (23) ndi stiffness chilinganizo (27) wa kasupe wa masamba ooneka ngati diamondi Kukhuthala. Mapangidwe a akasupe a masamba a rhombus alembedwa mu Gulu 4.

pamwamba4

Mwachidule, magawo a hinge ya zero-stiffness flexible kutengera makina a crank spring onse atsimikiziridwa, monga momwe tawonetsera mu Table 3 ndi Table 4.

4.2 Kupanga ndi kukonza kwa zero-stiffness flexible samples Onani zolemba [8] za kukonza ndi kuyesa njira yosinthira. Hinge yosunthika ya zero imapangidwa ndi makina osawuma komanso hinge yamkati ndi yakunja yosinthika molumikizana. Kamangidwe kapangidwe kawonekedwe mu Chithunzi 19.

Mahinji osinthasintha amkati ndi akunja ndi zingwe zamasamba zooneka ngati diamondi zimakonzedwa ndi zida zamakina odulira mawaya olondola. Mahinji osinthasintha amkati ndi akunja amakonzedwa ndikusonkhanitsidwa m'magulu. Chithunzi 20 ndi chithunzi chamagulu atatu a zingwe zowoneka ngati diamondi zamasamba, ndipo Chithunzi 21 ndizomwe zasokonekera zolimba ziro

4.3 Pulatifomu yoyezetsa kuuma kozungulira kwa hinge ya zero-stiffness flexible Potengera njira yoyesera yozungulira mu [8], nsanja yoyeserera ya kuuma kwa hinge ya zero-stiffness flexible imamangidwa, monga momwe chithunzi 22 chikusonyezera.

4.4 Kuyesa kwa data ndikusanthula zolakwika

Kuuma kozungulira kwa mahinji osinthika amkati ndi akunja ndi mahinji osunthika a zero adayesedwa papulatifomu yoyeserera, ndipo zotsatira zoyesa zikuwonetsedwa Chithunzi 23. Werezerani ndikujambulitsa kokhota kokhazikika kwa zero-kuuma kosinthasintha molingana ndi formula (19), monga momwe zasonyezedwera mkuyu. 24.

Zotsatira zoyezetsa zikuwonetsa kuti kuuma kozungulira kwa hinge yokhazikika ya zero kuli pafupi ndi ziro. Poyerekeza ndi mahinji osinthasintha amkati ndi akunja, hinge yolimba ya zero±0.31 mapaundi18°) kuuma kunachepetsedwa ndi 93%; 0.26 mapaundi (15°), kuuma kumachepetsedwa ndi 90%.

Monga momwe ziwonetsedwera mu Zithunzi 23 ndi 24, pali kusiyana kwina pakati pa zotsatira zoyesa za zero stiffness quality ndi zotsatira zachitsanzo (zolakwika zachibale ndi zosakwana 15%), ndipo zifukwa zazikulu za zolakwikazo ndi izi.

(1) Zolakwika zachitsanzo zomwe zimayambitsidwa ndi kuphweka kwa ntchito za trigonometric.

(2) Kukangana. Pali mkangano pakati pa chingwe cha masika a diamondi ndi shaft yokwera.

(3) Kulakwitsa pokonza. Pali zolakwika mu kukula kwenikweni kwa bango, ndi zina zotero.

(4) Kulakwitsa kwa msonkhano. Kusiyana pakati pa dzenje la unsembe wa diamondi woboola pakati tsamba kasupe chingwe ndi kutsinde, kusiyana unsembe chipangizo nsanja mayeso, etc.

4.5 Kuyerekeza kwa magwiridwe antchito ndi hinge yokhazikika yokhazikika ya zero M'mabuku [4], hinge yokhazikika ya zero ZSFP_CAFP idapangidwa pogwiritsa ntchito cross-axis flexural pivot (CAFP), monga momwe tawonetsera pa Chithunzi 25.

Kuyerekeza kwa zero-stiffness hinge ZSFP_IORFP (Chith. 21) ndi ZSFP_CAFP (Chith. 25) yomangidwa pogwiritsa ntchito mphete zamkati ndi zakunja zosinthika

(1) ZSFP_IORFP, kapangidwe kake ndi kocheperako.

(2) Makona a ZSFP_IORFP ndi ochepa. Mbali ya ngodya imachepetsedwa ndi ngodya ya hinge yosinthika yokha; makona a ZSFP_CAFP80°, ZSFP_IORFP pamakona40°.

(3) ±18°M'makona angapo, ZSFP_IORFP ili ndi kuuma kwa zero. Kuuma kwapakati kwa ZSFP_CAFP kumachepetsedwa ndi 87%, ndipo pafupifupi kuuma kwa ZSFP_IORFP kumachepetsedwa ndi 93%.

5 mapeto

Kutenga hinge yosinthika ya mphete zamkati ndi zakunja pansi pa torque yoyera ngati njira yolimba yolimba, ntchito yotsatirayi yachitidwa kuti apange hinge yokhazikika yolimba zero.

(1) Lingalirani njira yozungulira yolimba yoyipa——Pa makina a crank spring, choyimira (Fomula (6)) chinakhazikitsidwa kuti chiwunikire momwe magawo amapangidwira pa mawonekedwe ake oyipa, ndipo kusiyanasiyana kwa mawonekedwe ake oyipa kunaperekedwa (Table 1).

(2) Pofananiza kuuma kwabwino ndi koyipa, mawonekedwe owuma a kasupe mu kasupe wa crank (Equation (16)) amapezeka, ndipo mtundu (Equation (19)) umakhazikitsidwa kuti awunike momwe magawo amapangidwira. za crank spring mechanism pa zero stiffness quality of zero stiffness flexible hinge±20°), kuchepa kwapakati pa kuuma kumatha kufika 97%.

(3) Fotokozerani kuuma kosinthika makonda“masika”——Chingwe chamasamba chooneka ngati diamondi chinakhazikitsidwa kuti chitsimikizire kuuma kwake (Equation (23)) ndikutsimikiziridwa ndi njira yomaliza.

(4) Anamaliza kupanga, kukonza ndi kuyesa kwa compact zero-stiffness flexible hinge sample. Zotsatira zoyeserera zikuwonetsa kuti: pansi pakuchita kwa torque yoyera, the36°M'makona ozungulira, poyerekeza ndi mahinji osinthasintha amkati ndi akunja, kulimba kwa hinji yosunthika ya zero kumachepetsedwa ndi 93% pafupifupi.

Hinge yokhazikika yokhazikika ya zero-zero imangogwira ntchito ndi torque yoyera, yomwe imatha kuzindikira.“zero kuuma”, popanda kuganizira za kunyamula zinthu zovuta kutsitsa. Chifukwa chake, kupanga ziro-stiffness flexible hinges pansi pa zovuta zolemetsa ndiye cholinga cha kafukufuku wina. Kuphatikiza apo, kuchepetsa mikangano yomwe imakhalapo pakuyenda kwa ziro-stiffness hinges ndi njira yofunikira yokwaniritsira mahinji osinthika a zero-stiffness.

maumboni

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Za wolemba: Bi Shusheng (wolemba wogwirizana), wamwamuna, wobadwa mu 1966, dokotala, pulofesa, woyang'anira udokotala. Njira yake yayikulu yofufuzira ndi makina osinthika komanso loboti ya bionic.