Abstract: Iko kutenderera kuomarara kwe zero-kuomarara kuchinjika hinge ingangoita zero, iyo inokunda chirema icho akajairwa anochinjika hinge anoda kutyaira torque, uye anogona kuiswa kune anochinjika grippers uye mamwe minda. Kutora mhete yemukati nekunze inochinjika hinges pasi pekuita kwe torque yakachena seyakanaka kuomarara subsystem, tsvakiridzo Kusina kuomarara meshini uye kuenzanisa kuomarara kwakanaka uye kwakashata kunogona kuvaka zero kuomarara kuchinjika hinge. Kurudzira nzira isina kunaka yekuomarara——Crank spring mechanism, yakarongedzwa uye yakaongorora maitiro ayo asina kunaka ekuomarara; nekufananidza kuomarara kwakanaka uye kwakashata, akaongorora pesvedzero yezvimiro zvimiro zve crank spring mechanism pane zero kuomarara kwemhando; yakaratidza mutsara chitubu chine customizable kuoma uye saizi——Dhaimondi-yakaita shizha chitubu tambo, iyo yekuomarara modhi yakamiswa uye inogumira element simulation verification yakaitwa; pakupedzisira, dhizaini, kugadzirisa uye kuyedzwa kwe compact zero-kuomarara kuchinjika hinge sampu yakapedzwa. Mhedzisiro yebvunzo yakaratidza kuti: pasi pechiito che pure torque,±18°Pakati pemakona ekutenderera, kuomarara kwezero-kuomarara kuchinjika hinge i93% yakaderera pane iyo yemukati nekunze mhete inochinjika hinge paavhareji. Iyo yakagadzirwa zero-yakasimba flexible hinge ine compact chimiro uye yepamusoro-mhando zero-kuoma; the proposed negative-stiffness rotation mechanism uye mutsara Chitubu chine hukuru hwekutaridzirwa kwechidzidzo chekugadzirisa kushandiswa.

0 nhanganyaya

Flexible hinge (inotakura)

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Kuvimba neiyo elastic deformation yeinochinjika unit kufambisa kana kushandura mafambiro, simba uye simba, yakashandiswa zvakanyanya mukurongeka kweiyo uye mamwe minda. Kuenzaniswa nemabhengi echinyakare akaomarara, pane nguva yekudzoreredza apo hinge inochinjika inotenderera. Naizvozvo, dhiraivha unit inoda kupa inobuda torque kutyaira uye Chengetedza kutenderera kwehinge inoshanduka. Zero kuomarara kuchinjika hinge

^[3]

(Zero stiffness flexural pivot, ZSFP) ijoini rinotendereka rinotendereka rine kuomarara kunoita zero. Iyi mhando yehinge inochinjika inogona kugara pane chero chinzvimbo mukati meiyo sitiroko renji, inozivikanwawo se static balance flexible hinge.

^[4]

, anonyanya kushandiswa muminda senge flexible grippers.

Zvichienderana neiyo modular dhizaini yedhizaini inoshanduka, iyo zero-kuoma inochinjika hinge system inogona kupatsanurwa kuita maviri subsystems ezvakanaka uye zvisina kunaka kuomarara, uye zero-kuoma sisitimu inogona kuitika kuburikidza nekuenderana kweyakanaka uye isina kunaka kuomarara.

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. Pakati pavo, iyo yakanaka kuomarara subsystem inowanzo hombe-stroke inochinjika hinge, senge muchinjiko-rutsanga unochinjika hinge.

^[6-7]

, generalized matatu-muchinjikwa tsanga inochinjika hinge

^[8-9]

uye mhete yemukati nekunze inochinjika hinges

^[10-11]

Neb. Parizvino, tsvakiridzo yemahinji anochinjika yakawana mibairo yakawanda, saka, kiyi yekugadzira zero-kuomarara kuchinjika hinges ndeyekufananidza akakodzera asina kunaka kusaomarara mamodule emahinji anochinjika[3].

Mhete yemukati neyekunze inochinjika hinge (Inner nekunze mhete inochinjika pivots, IORFP) ine hunhu hwakanakisa maererano nekuoma, kunyatsoita uye tembiricha inodonha. Iyo inofananidzwa isina kunaka yekuomarara module inopa nzira yekuvaka yezero-kuomarara inoshanduka hinge, uye pakupedzisira, inopedzisa dhizaini, sampuli kugadzirisa uye kuyedzwa kwezero-kuoma kuchinjika hinge.

1 crank spring mechanism

1.1 Tsanangudzo yekuomarara kwakashata

Tsanangudzo yakajairika yekuoma K ndiyo chiyero chekuchinja pakati pemutoro F inotakurwa neiyo elastic element uye inoenderana deformation dx.

K= dF/dx (1)

Kana kuwedzera kwemutoro we elastic element kunopesana nechiratidzo chekuenderana ne deformation increment, ndiko kuoma kwakashata. Panyama, kuoma kwakashata kunoenderana nekusagadzikana kwakasimba kwechinhu elastic

^[12]

.Negative stiffness mechanisms inoita basa rinokosha mumunda we flexible static balance. Kazhinji, maitiro asina kunaka ekuomarara ane maitiro anotevera.

(1) Iyo meshini inochengetedza imwe chiyero chesimba kana inoenda kune imwe deformation.

(2) Chigadzirwa chacho chiri mumamiriro ezvinhu akaoma asina kugadzikana.

(3) Kana iyo michina inovhiringidzika zvishoma uye ichisiya nzvimbo yekuenzanisa, inogona kusunungura simba guru, iro riri munzira imwechete sekufamba.

1.2 Kuvaka musimboti we zero-kuoma kuchinjika hinge

Iyo zero-kuomarara inochinjika hinge inogona kuvakwa nekushandisa yakanaka uye isina kunaka kuomarara kuenzanisa, uye musimboti unoratidzwa mumufananidzo 2.

(1) Pasi pekuita kwe torque yakachena, mukati nekunze mhete dzinochinjika dzine hukama hwemakona emutsetse we torque-kutenderera, sezvakaratidzwa mumufananidzo 2a. Kunyanya, kana nzvimbo yemharadzano iri pa12.73% yehurefu hwetsanga, iyo torque-kutenderera angle hukama ndeyemutsara.

^[11]

, panguva ino, iyo nguva yekudzoreredza Mpivot (yakatarisana newachi) yehinge inoshanduka ine hukama neinotakura kutenderera angle.θ(counterclockwise) hukama huri

Mpivot=(8EI/L)θ (2)

Mune fomula, E ndiyo elastic modulus yezvinhu, L ndiyo kureba kwetsanga, uye ini inguva yeinertia yechikamu.

(2) Maererano neiyo inotenderera yekuoma kwemuenzaniso wemukati uye wekunze mhete inochinjika hinges, iyo yakaipa kuomarara inotenderera nzira inofananidzwa, uye yayo yakaipa kuomarara maitiro anoratidzwa muMufananidzo 2b.

(3) Mukuona kwekusagadzikana kwemaitiro asina kunaka ekuoma

^[12]

, kuomarara kwezero-kuomarara kuchinjika hinge kunofanirwa kunge kuri zero uye kukuru kupfuura zero, sezvakaratidzwa mumufananidzo 2c.

1.3 Tsanangudzo ye crank spring mechanism

Zvinoenderana nezvinyorwa [4], zero-kuomarara kuchinjika hinge inogona kuvakwa nekuunza chitubu chakagara chakaremara pakati pemuviri unofamba wakaoma uye wakamisikidzwa wakaomarara muviri wehinge inoshanduka. Yemukati nekunze mhete inochinjika hinge inoratidzwa muFIG. 1, chitubu chinounzwa pakati pemhete yemukati nemhete yekunze, i.e., spring-crank mechanisms (SCM) inounzwa. Tichitaura nezve crank slider mechanism inoratidzwa muMufananidzo 3, iyo inobatana paramita ye crank spring mechanism inoratidzwa mumufananidzo 4. Iyo crank-spring mechanism inoumbwa ne crank uye chitubu (set kuomarara se k). kona yekutanga ikona inosanganisirwa pakati pe crank AB ne base AC kana chitubu chisina kuremara. R inomiririra kureba, l inomiririra kureba kwehwaro, uye inotsanangura kureba kwereshiyo sereshiyo ye r kusvika l, I.e. = r/l (0<<1).

Kuvakwa kweiyo crank-spring mechanic inoda kugadzwa kwe4 paramita: base kureba l, crank kureba reshiyo, kona yekutanga uye kuoma kwechirimo K.

Iyo deformation ye crank spring mechanism iri pasi pekumanikidzwa inoratidzwa muMufananidzo 5a, panguva ino M

_{& gamma;}

Pasi pechiito, crank inofamba kubva panzvimbo yekutanga AB

_Beta

tendeukira kuna AB

_{& gamma;}

, panguva yekutenderera, iyo inosanganisirwa kona ye crank zvinoenderana nenzvimbo yakachinjika

_{& gamma;}

inonzi crank angle.

Kuongororwa kwehunhu kunoratidza kuti crank inotenderera kubva kuAB (yekutanga chinzvimbo, M & gamma; Zero) kusvika AB0 (“dead point”nzvimbo, M

_{& gamma;}

iri zero), iyo crank-spring mechanism ine deformation ine maitiro asina kunaka ekuomarara.

1.4 Hukama huri pakati pe torque nemakona ekutenderera kwe crank spring mechanism

Mumufananidzo. 5, torque M & gamma; clockwise iri positive, crank angle & gamma; counterclockwise yakanaka, uye nguva yekuremerwa M inoteedzerwa nekuongororwa pazasi.

_{& gamma;}

ine crank angle

_{& gamma;}

Ukama huri pakati pemaitiro ekuenzanisira hunotapurwa.

Sezvinoratidzwa mumufananidzo 5b, torque balance equation ye crank AB & gamma yakanyorwa.

Muchidimbu, F & gamma; isimba rekudzoreredza muchirimo, d & gamma; ari F & gamma; kunongedza A. Fungidzira kuti kusimuka-mutoro hukama hwechirimo

Mune fomula, K ndiko kuoma kwechirimo (kwete hazvo kukosha kwekugara),δ

xγ

ndiyo huwandu hwechitubu deformation (yakapfupikiswa kuita yakanaka),δ

xγ

=|B

_Beta

C| – |B

_{& gamma;}

C|.

Simultaneous mhando (3) (5), nguva M

_{& gamma;}

nekona

_{& gamma;}

Hukama hwacho

1.5 Ongororo yeakaipa kuomarara maitiro eiyo crank-spring mechanism

Kuti ufambise kuongororwa kwehusina kunaka hwekuomarara maitiro eiyo crank-spring mechanism (nguva M.

_{& gamma;}

nekona

_{& gamma;}

hukama), zvinogona kufungidzirwa kuti chitubu chine mutsara wakanaka kuoma, ipapo formula (4) inogona kunyorwa zvakare se.

Mune fomula, Kconst inogara yakakura kupfuura zero. Mushure mekukura kwehinge inoshanduka yakatemwa, kureba l kwechigadziko kunotsanangurwawo. Naizvozvo, tichifunga kuti ini ndinogara, fomula (6) inogona kunyorwa zvakare se

uko Kconstl2 inogara yakakura kupfuura zero, uye nguva coefficient m & gamma; ine dimension yeimwe. Iyo yakaipa kuomarara maitiro eiyo crank-spring mechanism inogona kuwanikwa nekuongorora hukama pakati peiyo torque coefficient m. & gamma; uye kona yekutenderera & gamma.

Kubva pakuenzanisa (9), Mufananidzo 6 unoratidza kona yekutanga =π hukama pakati m & gamma; uye crank kureba reshiyo uye kutenderera angle & gamma;, & iri;[0.1, 0.9],& gamma;& ini;[0, π]. Mufananidzo 7 unoratidza hukama pakati pem & gamma; uye kona yekutenderera & gamma; ye = 0.2 uye zvakasiyana. Mufananidzo 8 unoratidza =π Apo, pasi pezvakasiyana, hukama pakati pem & gamma; uye kona & gamma.

Zvinoenderana netsanangudzo ye crank spring mechanism (chikamu 1.3) uye fomula (9), kana k na l zvichigara, m. & gamma; Chete chine chekuita nekona & gamma;, crank kureba reshiyo uye crank yekutanga kona.

(1) Kana uye chete kana & gamma; yakaenzana ne0 kanaπ kana ,m & gamma; yakaenzana ne zero; & gamma; & ini;[0,],m & gamma; yakakura kudarika zero; & gamma; & ini;[π],m & gamma; isingasviki zero. & ini;[0,],m & gamma; yakakura kudarika zero; & gamma;& ini;[π],m & gamma; isingasviki zero.

(2) & gamma; Kana [0,], kona yekutenderera & gamma; inowedzera, m & gamma; inowedzera kubva ku zero kuenda ku inflection point angle & gamma; 0 inotora kukosha kwepamusoro m & gamma; max, uyezve zvishoma nezvishoma inoderera.

(3) Iyo yakaipa kuomarara hunhu hweiyo crank spring mechanism: & gamma;& ini;[0, & gamma;0], panguva ino & gamma; inowedzera (yakatarisana), uye torque M & gamma; inowedzera (newachi). Iyo inflection point angle & gamma; 0 ndiyo yakanyanya kutenderera kona yeasina kunaka kuomarara hunhu hwe crank-spring mechanism uye & gamma;0 & ini;[0,];m & gamma; max ndiyo yakanyanya kunaka nguva yenguva isina kunaka. Kupihwa uye , kutorwa kwe equation (9) goho & gamma;0

(4) iyo yakakura kona yekutanga, & gamma; mukuru 0, m

_γmax

chikuru.

(5) iyo yakakura reshiyo yehurefu, & gamma; mudiki 0, m

_γmax

chikuru.

Kunyanya, =πHunhu husina kunaka hwekuomarara kweiyo crank spring mechanism ndiyo yakanakisa (iyo yakaipa kuomarara angle range yakakura, uye torque inogona kupihwa yakakura). =πPanguva imwecheteyo, pasi pemamiriro akasiyana, iyo yakanyanya kutenderera angle & gamma yekuomarara kwakashata hunhu hwe crank spring mechanism; 0 uye iyo yakanyanya kunaka torque coefficient m & gamma; Max akanyorwa patafura 1.

2 Kuvaka zero-kuomarara flexible hinge

Kuenderana kwekuomarara kwakanaka uye kwakashata kwe2.1 kunoratidzwa muMufananidzo 9, n(n 2) mapoka eanofanana crank spring masisitimu anogovaniswa zvakaenzana kutenderedza denderedzwa, achigadzira nzira yekuomarara isina kunaka inofananidzwa nemukati nekunze mhete inochinjika.

Uchishandisa mhete yemukati neyekunze inochinjika hinges seyakanaka kuomarara subsystem, gadzira zero-kuomarara kuchinjika hinge. Kuti uwane zero kuomarara, enderana neiyo yakanaka uye yakaipa kuomarara

panguva imwe chete (2), (3), (6), (11), uye & gamma;=θ, mutoro F & gamma yechirimo inogona kuwanikwa; uye kutamiswaδHukama hwe x & gamma; ndizvo

Zvinoenderana nechikamu 1.5, iyo yakashata kuomarara angle renji ye crank spring mechanic: & gamma;& ini;[0, & gamma;0] uye & gamma;0 & isin;[0,], kurova kwe zero kuomarara kunochinjika hinge kuchave kushoma pane & gamma;0, ini .e. chitubu chinogara chiri chakaremara (δxγ≠0). Iyo yekutenderera siyana yemukati nekunze mhete inochinjika hinges ndeye±0.35 rad(±20°), kurerutsa trigonometric mabasa chivi & gamma; uye cos & gamma; sezvinotevera

Mushure mekurerutsa, hukama hwekuremerwa kwechitubu

2.2 Kukanganisa kuongororwa kwezvakanaka uye zvisina kunaka kuomarara kunoenderana modhi

Ongorora kukanganisa kwakakonzerwa nekurapa kwakareruka kweequation (13). Zvinoenderana neiyo chaiyo yekugadzirisa ma paramita e zero kuomarara kuchinjika hinge (Chikamu 4.2):n = 3,l = 40mm, =π, = 0.2,E = 73 GPA; Zviyero zvemukati nekunze zvindori zvinochinjika hinge tsanga L = 46mm, T = 0.3mm,W = 9.4mm; Mafomura ekuenzanisa (12) uye (14) anorerutsa hukama hwekutamisa mutoro uye kukanganisa kwehukama hwemberi nekumashure zvitubu sezvakaratidzwa muFigure 10a uye 10b zvichiteerana.

Sezvinoratidzwa mumufananidzo 10, & gamma; iri pasi pe0.35 rad (20°), iko kukanganisa kwakakonzerwa nekurapa kwakareruka kune mutoro-kuchinjisa curve haipfuure 2.0%, uye fomula.

Mabatirwo akareruka e (13) anogona kushandiswa kugadzira zero-kuomarara kuchinjika hinges.

2.3 Hunhu hwekuoma kwechirimo

Tichifunga kuti kuoma kwechirimo ndiK, panguva imwe chete (3), (6), (14)

Zvinoenderana neayo chaiwo maparamendi e zero kuomarara kuchinjika hinge (Chikamu 4.2), iyo shanduko curve yekuoma kwechirimo K ine kona. & gamma; inoratidzwa Mufananidzo 11. Zvikurukuru, rinhi & gamma;= 0, K inotora kukosha kushoma.

Kuti zvive nyore kugadzira uye kugadzirisa, chitubu chinotora mutsara wakanaka wekuomarara chitubu, uye kuomarara ndiko Kconst. Mukurohwa kwese, kana kuoma kwese kwe zero kuomarara kuchinjika hinge kwakakura kupfuura kana kuenzana ne zero, Kconst inofanira kutora hushoma kukosha hwe K.

Equation (16) ndiko kuomarara kukosha kwemutsara wakanaka wekuomarara chitubu kana uchigadzira zero kuoma kunochinjika hinge. 2.4 Ongororo ye zero-kuoma kwehuhu Hukama hwekuremerwa kweiyo yakagadzirwa zero-yakasimba inochinjika hinge ndeye.

Panguva imwe chete (2), (8), (16) inogona kuwanikwa

Kuti utarise kunaka kwe zero kuomarara, kudzikisira kuchinjika hinge kuomarara pamberi uye mushure mekuwedzera iyo yakashata kuomarara module inotsanangurwa se zero kuomarara kwemhando.η

η Iyo iri pedyo ne100%, iyo yakakwirira yemhando ye zero kuoma. Mufananidzo 12 1-η Hukama ne crank kureba reshiyo uye yekutanga kona η Inozvimiririra panhamba n yeparallel crank-spring mechanisms uye kureba l kwehwaro, asi inongoenderana nereshiyo yekureba, kona yekutenderera. & gamma; uye kona yekutanga .

(1) Iyo yekutanga angle inowedzera uye zero kuoma kwemhando inovandudza.

(2) Hurefu hwechiyero hunowedzera uye zero kuomarara kwemhando inoderera.

(3) Mukona & gamma; inowedzera, zero kuoma kunaka kunoderera.

Kuti uvandudze kuoma kwe zero ye zero stiffness flexible hinge, kona yekutanga inofanira kutora kukosha kukuru; crank kureba reshiyo inofanira kuva diki sezvinobvira. Panguva imwecheteyo, maererano nekuongorora kunoguma muChikamu 1.5, kana chiri chiduku, kukwanisa kwe crank-spring mechanism yekupa kuoma kwakashata kuchave kusina simba. Kuti uvandudze zero kuomarara mhando ye zero kuomarara inochinjika hinge, iyo yekutanga kona =π, crank kureba reshiyo = 0.2, ndiko kuti, iwo chaiwo ekugadzirisa maparamendi echikamu 4.2 zero kuomarara kuchinjika hinge.

Zvinoenderana neayo chaiwo ekugadzirisa maparamendi e zero-kuoma kuchinjika hinge (Chikamu 4.2), iyo torque-angle hukama pakati pemukati nekunze mhete inochinjika hinges uye zero-kuoma kuchinjika hinge inoratidzwa muFigure 13; kuderera kwekuoma ndeye zero-kuoma kwehutano coefficientηHukama nekona & gamma; inoratidzwa Mufananidzo 14. NeMufananidzo 14: Mu 0.35 rad (20°) kutenderera kwehuwandu, kuoma kwe zero-kuoma flexible hinge kunoderedzwa neavhareji ye97%; 0.26 rad(15°) makona, yakaderedzwa ne95%.

3 Dhizaini yemutsara wakanaka kuomarara chitubu

Kuvakwa kwe zero kuomarara kuchinjika hinge kazhinji mushure mekukura uye kuomarara kwehinge inochinjika kwatemwa, uye ipapo kuomarara kwechitubu mu crank spring mechanism kunodzoserwa shure, saka kuomarara uye saizi zvinodiwa zvechirimo zvakaomarara. Mukuwedzera, iyo yekutanga angle =π, kubva kuMufananidzo 5a, panguva yekutenderera kwe zero-stiffness flexible hinge, chitubu chinogara chiri mumamiriro ekumanikidzwa, kureva.“Compression spring”.

Kuomarara uye saizi yezvitubu zvekumanikidza zvechinyakare zvakaoma kugadzirisa chaizvo, uye nzira yekutungamira inowanzodiwa mumashandisirwo. Nokudaro, chitubu chine kuoma uye ukuru hunogona kugadziriswa kunorongwa——Tambo yeshizha yakaita sedhaimani. Tambo yeshizha yakaita sedhaimani (Mufananidzo 15) inoumbwa nemashizha akawanda akaita sedhaimani akabatanidzwa munhevedzano. Iyo ine hunhu hwemahara dhizaini dhizaini uye yakakwira degree rekugadzirisa. Iyo tekinoroji yekugadzira inopindirana neiyo yeanochinjika hinges, uye ese ari maviri anogadziriswa nekunyatso kucheka waya.

3.1 Kutakura-kuchinjisa modhi yedhaimondi yakaita seshizha chitubu tambo

Nekuda kwekuenzana kwechitubu cheshizha rerhombic, chitubu chimwe chete cheshizha chinoda kuongororwa kushushikana, sezvakaratidzwa mumufananidzo 16. α ndiyo kona iri pakati petsanga neyakachinjika, kureba, hupamhi uye ukobvu hwetsanga iLd, Wd, Td zvakateerana, f ndiwo wakabatanidzwa mutoro pashizha rerhombus,δy ndiko deformation ye rhombic leaf spring in the direction y, force fy uye moment m mitoro yakaenzana pamagumo erutsanga rumwe, fv nefw zvinoumba masimba efy muwov coordinate system.

Zvinoenderana neiyo beam deformation theory yeAWTAR[13], iyo dimensionally yakabatana mutoro-kusimuka hukama hwetsanga imwechete.

Nekuda kwehukama hwekumanikidza kwemuviri wakaomarara patsanga, iyo yekupedzisira kona yetsanga isati yasvika uye mushure mekushanduka ndeye zero, ndiko.θ = 0. Panguva imwe chete (20)(22)

Equation (23) ndiyo inotakura-displacement dimensional yekubatanidza modhi yerhombic mashizha chitubu. n2 rhombic mashizha zvitubu zvakabatana munhevedzano, uye yayo mitoro-kusimuka modhi iri

Kubva pafomula (24), riiniαKana d iri diki, kuomarara kwetambo yeshizha rakaita sedhaimani rinenge mutsara pasi pezvimiro zvakajairwa uye mitoro yakajairika.

3.2 Yakapera element simulation verification yemuenzaniso

Iyo inogumira element simulation verification yeiyo mutoro-kufambiswa modhi yedhaimondi-yakaita seshizha chitubu inoitwa. Uchishandisa ANSYS Mechanical APDL 15.0, zviyero zvekufananidza zvinoratidzwa muTable 2, uye kumanikidzwa kwe8 N kunoshandiswa kune shizha rakafanana nedhaimani.

Kuenzanisa pakati pemigumisiro yemuenzaniso uye mhedzisiro yekuenzanisa ye rhombus shizha chitubu chekutakura-kuchinjika hukama kunoratidzwa muFig. 17 (dimensionalization). Kune zvitubu zveshizha zvina zverhombus zvine makona akasiyana ekurerekera, chikanganiso chiri pakati pemuenzaniso uye chinogumira chekuenzanisa mhedzisiro haipfuure 1.5%. Huchokwadi uye huchokwadi hwemuenzaniso (24) hwakasimbiswa.

4 Dhizaini uye bvunzo ye zero-kuoma inoshanduka hinge

4.1 Parameter dhizaini ye zero-kuomarara inochinjika hinge

Kugadzira zero-kuomarara kuchinjika hinge, magadzirirwo eiyo hinge inochinjika anofanirwa kutariswa zvinoenderana nemamiriro ebasa kutanga, uyezve ma paramita akakodzera eiyo crank spring mechanic inofanira kuverengerwa zvinopesana.

4.1.1 Flexible hinge parameters

Iyo yepakati pepakati yemukati uye yekunze mhete inochinjika hinges inowanikwa pa12.73% yehurefu hwetsanga, uye maparamita ayo anoratidzwa muTafura 3. Kutsiva muequation (2), torque-kutenderera angle hukama hwemukati nekunze ring inochinjika hinges ndeye

4.1.2 Negative stiffness mechanism parameters

Sezvinoratidzwa mufig. 18, kutora nhamba n ye crank spring masisitimu inofananidzwa ne3, kureba l = 40 mm kunotarwa nehukuru hwehinge inoshanduka. maererano nemhedziso yechikamu 2.4, kona yekutanga =π, crank kureba reshiyo = 0.2. Maererano nekuenzanisa (16), kuoma kwechirimo (I.e. diamond shizha chitubu tambo) ndiye Kconst = 558.81 N/m (26)

4.1.3 Dhaimondi shizha chitubu chetambo paramita

nel = 40mm, =π, = 0.2, kureba kwekutanga kwechirimo ndeye 48mm, uye iyo yakanyanya deformation (& gamma;= 0) iri 16mm. Nekuda kwekumisikidzwa kwemaitiro, zvinonetsa kune imwechete rhombus shizha chitubu kuburitsa yakakura deformation. Uchishandisa zvitubu zvina zveshizha rhombus munhevedzano (n2 = 4), kuomarara kweimwe rhombus mashizha chitubu ndiko.

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

Zvinoenderana nehukuru hwekuomarara husina kunaka (Mufananidzo 18), kupihwa kureba kwetsanga, hupamhi uye rutsanga rwakarerekera kona yedhaimondi-yakaita seshizha shizha, tsanga inogona kutorwa kubva mufomula (23) uye kuomarara formula (27) ye chitubu cheshizha chakaita sedhaimani Kukora. Izvo zvimiro zvezvitubu zvemashizha erhombus zvakanyorwa muTebhu 4.

pamusoro4

Muchidimbu, maparamendi e zero-kuomarara kuchinjika hinge zvichibva pane crank spring mechanism zvese zvakatemerwa, sezvakaratidzwa muTafura 3 uye Tafura 4.

4.2 Dhizaini nekugadziriswa kwe zero-kuomarara kuchinjika hinge sample Zero-kuomarara kuchinjika hinge inoumbwa neakaipa kuomarara meshini uye yemukati nekunze mhete inochinjika hinge inofanana. Iyo dhizaini yekugadzira inoratidzwa muMufananidzo 19.

Ese ari maviri mhete yemukati neyekunze inochinjika hinges uye nedhaimani-akaita seshizha tambo dzechitubu dzinogadziriswa nematurusi emuchina wekucheka waya chaiwo. Iyo yemukati nekunze mhete inochinjika hinges inogadziriswa uye inounganidzwa muzvikamu. Mufananidzo 20 ndiwo mufananidzo wepamuviri wemaseti matatu etambo dzeshizha dzakaita sedhaimani, uye Mufananidzo 21 ndiyo yakaunganidzwa zero-kuoma Mufananidzo wemuviri wesample inochinjika hinge.

4.3 Iyo inotenderera yekuomarara bvunzo chikuva che zero-kuoma kuchinjika hinge Tichireva nzira yekutenderera yekuomarara yekuyedza mu [8], inotenderera yekuomarara bvunzo chikuva che zero-kuoma kuchinjika hinge inovakwa, sezvakaratidzwa mumufananidzo 22.

4.4 Kuedza kugadzirisa data uye kuongorora kukanganisa

Iko kutenderera kuomarara kwemukati nekunze kwemhete inochinjika hinges uye zero-kuomarara kuchinjika hinges kwakaedzwa pachikuva chebvunzo, uye mhedzisiro yebvunzo inoratidzwa muMufananidzo 23. Verenga uye dhirowa zero-kuoma kwemhando curve ye zero-kuomarara inochinjika hinge zvinoenderana neformula (19), sezvakaratidzwa muFig. 24.

Mhedzisiro yemuyedzo inoratidza kuti kutenderera kuomarara kwezero-kuomarara kuchinjika hinge kuri pedyo ne zero. Kuenzaniswa neyemukati nekunze mhete inochinjika hinge, iyo zero-kuoma kwayo inochinjika hinge±0.31 rad(18°) kuoma kwakaderedzwa neavhareji ye93%; 0.26 rad (15°), kuoma kwacho kunoderedzwa ne90%.

Sezvinoratidzwa muFigure 23 ne24, pachine imwe mukaha pakati pemhedzisiro yebvunzo ye zero kuomarara kwemhando uye theoretical modhi mhinduro (chikanganiso chehukama chiri pasi pe15%), uye zvikonzero zvikuru zvekukanganisa ndezvinotevera.

(1) Iko kukanganisa kwemuenzaniso kunokonzerwa nekurerutsa kwe trigonometric mabasa.

(2) Kupokana. Pane kukweshana pakati pedhaimani shizha chitubu tambo uye inokwirisa shaft.

(3) Kugadzirisa kukanganisa. Pane zvikanganiso muhukuru chaihwo hwetsanga, nezvimwe.

(4) Kukanganisa kwegungano. Mukana uri pakati pegomba rekuisa yedhaimondi-yakaita seshizha chitubu tambo uye shaft, gaka rekuisa reyeyedzo papuratifomu mudziyo, nezvimwe.

4.5 Kuenzanisa kwekuita neyakajairwa zero-kuomarara kuchinjika hinge Muzvinyorwa [4], zero-kuomarara kuchinjika hinge ZSFP_CAFP yakavakwa pachishandiswa cross-axis flexural pivot (CAFP), sezvakaratidzwa mumufananidzo 25.

Kuenzanisa kwe zero-kuoma flexible hinge ZSFP_IORFP (Fig. 21) uye ZSFP_CAFP (Fig. 25) yakagadzirwa nemukati nekunze mhete inochinjika hinges

(1) ZSFP_IORFP, chimiro chakanyanya compact.

(2) Makona eZSFP_IORFP idiki. Mutsara wekona unogumira nekona yekona ye hinge inoshanduka pachayo; pakona yeZSFP_CAFP80°, ZSFP_IORFP makona40°.

(3) ±18°Mumakona emakona, ZSFP_IORFP ine mhando yepamusoro ye zero kuoma. Avhareji yekuomarara kweZSFP_CAFP yakaderedzwa ne87%, uye avhareji yekuomarara kweZSFP_IORFP inoderedzwa ne93%.

5 mhedziso

Kutora hinge inochinjika yemukati nekunze zvindori pasi pe torque yakachena seyakanaka kuomarara subsystem, rinotevera basa rakaitwa kuitira kuvaka zero-kuoma kuchinjika hinge.

(1) Ratidza nzira isina kunaka yekuomarara——Kune crank spring mechanism, modhi (Formula (6)) yakagadzwa kuti iongorore pesvedzero yezvimiro zvimiro pahunhu hwayo husina kunaka hwekuomarara, uye huwandu hwehusina kunaka hwekuoma kwayo hwakapihwa (Tafura 1).

(2) Nekuenzanisa kuomarara kwakanaka uye kwakashata, kuomarara hunhu hwechitubu mu crank spring mechanic (Equation (16)) inowanikwa, uye modhi (Equation (19)) inotangwa kuti iongorore mhedzisiro yezvimiro zvimiro. ye crank spring mechanism pane zero kuomarara kwemhando ye zero kuomarara inochinjika hinge Kufurira, ne theoretically, mukati meiyo inowanikwa sitiroko yehinge inochinjika yemukati nekunze mhete (±20°), avhareji kuderedzwa mukuoma kunogona kusvika 97%.

(3) Kurudzira kuomarara kunogoneka“chitubu”——Tambo yeshizha yakaita sedhaimani yakamiswa kuti iratidze kuomarara kwayo (Equation (23)) uye yakasimbiswa neinogumira element element.

(4) Yakapedzwa dhizaini, kugadzirisa uye kuyedzwa kweiyo compact zero-kuomarara inochinjika hinge sampu. Mhedzisiro yebvunzo inoratidza kuti: pasi pechiito che pure torque, iyo36°Muhuwandu hwemakona ekutenderera, kana ichienzaniswa nemukati uye yekunze mhete inochinjika hinges, kuoma kwe zero-kuomarara kuchinjika hinge kunoderedzwa ne93% paavhareji.

Iyo yakavakirwa zero-yakasimba inochinjika hinge iri pasi pekuita kweiyo torque yakachena, iyo inogona kuziva.“zero kuoma”, pasina kufunga nezvenyaya yekutakura yakaoma kurodha mamiriro. Naizvozvo, kuvakwa kwezero-kuomarara kuchinjika hinges pasi pemamiriro ekutakura akaomarara ndiko kutarisisa kumwe kutsvagurudza. Pamusoro pezvo, kudzikisira kukwesha kuripo panguva yekufamba kwezero-kuomarara kuchinjika hinges idanho rakakosha rekugadzirisa kune zero-kuomarara kuchinjika hinges.

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Nezve munyori: Bi Shusheng (munyori anoenderana), murume, akaberekwa muna 1966, chiremba, purofesa, chiremba supervisor. Yake huru yekutsvagisa dhizaini inonyatso kuchinjika meshini uye bionic robhoti.