I-Abstract: Ukuqina okujikelezayo kwehenjisi ebhetyebhetye enguziro imalunga neqanda, eyoyisa isiphene sokuba iihenjisi eziqhelekileyo ezibhetyebhetye zifuna itorque yokuqhuba, kwaye inokufakwa kwiihenjisi eziguquguqukayo kunye nezinye iindawo. Ukuthatha iringi yangaphakathi nangaphandle iihenjisi ezibhetyebhetye phantsi kwentshukumo yetorque esulungekileyo njengenkqubo esezantsi yokuqina, uphando Indlela yokuqina engalunganga kunye nokuqina okuhambelanayo kunye nokuqina okungalunganga kunokwakha ihenjisi ebhetyebhetye enguziro. Cebisa indlela yokujikeleza kokuqina okungalunganga——I-Crank spring mechanism, imodeli kwaye ihlalutye iimpawu zayo ezimbi zokuqina; ngokuthelekisa ukuqina okulungileyo nokubi, kuhlalutywe ifuthe leeparamitha zesakhiwo se-crank spring mechanism kumgangatho onguziro wokuqina; icetywe isiphethu esinemigca enokuqina kunye nobukhulu obunokwenziwa ngokwezifiso——Umtya wentwasahlobo owenziwe ngedayimane omile okwedayimani, imodeli yokuqina yasekwa kwaye ukuqinisekiswa kokulinganisa okulinganiselweyo kwenziwa; ekugqibeleni, uyilo, ukusetyenzwa kunye novavanyo compact zero-ukuqina bhetyebhetye isampulu ihenjisi zagqitywa. Iziphumo zovavanyo zibonise ukuba: phantsi kwesenzo setorque ecocekileyo,±18°Kuluhlu lwee-angles ezijikelezayo, ukuqina okujikelezayo kwe-zero-stiffness flexible hinge yi-93% ephantsi kuneyo yangaphakathi kunye nendandatho yangaphandle yeehenjisi eziguquguqukayo ngokomndilili. I-hinge eyakhiweyo ye-zero-stiffness flexible hinge ine-compact structure kunye ne-high-quality zero-stiffness; isindululo esicetywayo esingalunganga sokuqina kwendlela yokujikeleza kunye nomgama Intwasahlobo inexabiso elikhulu lokukhangela kuphononongo lwendlela ebhetyebhetye.

0 Intshayelelo

Ihenjisi ebhetyebhetye (ethwele)

^[1-2]

Ukuxhomekeka kwi-elastic deformation yeyunithi eguquguqukayo yokuhambisa okanye ukuguqula ukunyakaza, amandla kunye namandla, isetyenziswe ngokubanzi kwindawo echanekileyo kunye nezinye iindawo. Xa kuthelekiswa neebheringi zemveli eziqinileyo, kukho umzuzu wokubuyisela xa ihenjisi ebhetyebhetye ijikeleza. Ngoko ke, iyunithi yokuqhuba idinga ukubonelela nge-torque yokukhupha ukuqhuba kwaye Gcina ukujikeleza kwehinge eguquguqukayo. Zero ukuqina ihenjisi ebhetyebhetye

^[3]

(Zero stiffness flexural pivot, ZSFP) lijoyinti elibhetyebhetye elijikelezayo elinokuqina okujikelezayo malunga neqanda. Olu hlobo lwehenjisi ebhetyebhetye lunokuhlala nakweyiphi na indawo phakathi koluhlu lwe-stroke, olukwabizwa ngokuba yi-static balance flexible hinge.

^[4]

, zisetyenziswa kakhulu kwiinkalo ezifana ne-flexible grippers.

Ngokusekwe kwingqikelelo yoyilo lwemodyuli yendlela ebhetyebhetye, yonke inkqubo yehinge eguquguqukayo enguziro inokwahlulwa ibe ziinkqubo ezingaphantsi ezimbini zokuqina okuhle kunye nokubi, kwaye inkqubo yokuqina engu-zero inokuphunyezwa ngokudibana kokuqina okuhle kunye nokubi.

^[5]

. Phakathi kwazo, inkqubo esezantsi yokuqina kokuqina idla ngokuba yihenjisi enkulu ebhetyebhetye, njengehenjisi eguquguqukayo yengcongolo.

^[6-7]

, ihenjisi eguquguqukayo yeengcongolo ezintathu jikelele

^[8-9]

kunye neringi yangaphakathi nangaphandle iihenjisi eziguquguqukayo

^[10-11]

Njl. Okwangoku, uphando kwiihenjisi eziguquguqukayo lufumene iziphumo ezininzi, ngoko ke, isitshixo sokuyila iihenjisi eziguquguqukayo zero-ziro kukutshatisa iimodyuli zokuqina ezingafanelekanga kwiihenjisi eziguquguqukayo[3].

Iihenjisi eziguquguqukayo zeringi yangaphakathi nangaphandle (Iringi yangaphakathi nangaphandle ye-flexural pivots, i-IORFP) ineempawu ezibalaseleyo ngokumalunga nokuqina, ukuchaneka kunye nokukhukuliseka kobushushu. Imodyuli yokuqina ehambelanayo ibonelela ngendlela yolwakhiwo lwehinge eguquguqukayo ye-zero, kwaye ekugqibeleni, igqibezela uyilo, ukusetyenzwa kwesampulu kunye novavanyo lwehenjisi eguquguqukayo ye-zero.

I-1 crank spring mechanism

1.1 Inkcazo yokuqina okungalunganga

Inkcazo ngokubanzi yokuqina kwe-K yizinga lokutshintsha phakathi komthwalo we-F othwalwa yinto e-elastic kunye ne-deformation ehambelanayo ne-dx.

K= dF/dx (1)

Xa ukunyuswa komthwalo we-elastic element kuchasene nomqondiso wokunyuka kwe-deformation ehambelanayo, ukuqina okubi. Ngokomzimba, ukuqina okungalunganga kuhambelana nokungazinzi kwe-static ye-elastic element

^[12]

.Iindlela zokuqina ezingalunganga zidlala indima ebalulekileyo kwinkalo ye-flexible static balance. Ngokuqhelekileyo, iindlela zokuqina ezingalunganga zinezi mpawu zilandelayo.

(1) Isixhobo sigcina isixa esithile samandla okanye singena kwi-deformation ethile.

(2) Isixhobo sikwimeko enzima yokungazinzi.

(3) Xa umatshini uphazamiseka kancinane kwaye ushiya indawo yokulinganisa, unokukhulula amandla amakhulu, akwicala elifanayo kunye nentshukumo.

1.2 Umgaqo wokwakha wehenjisi eguquguqukayo enguziro

I-zero-stiffness flexible hinge inokwakhiwa ngokusebenzisa ukuqina okulungileyo kunye nokubi, kwaye umgaqo uboniswe kuMfanekiso 2.

(1) Phantsi kwentshukumo yetorque esulungekileyo, umsesane wangaphakathi nangaphandle iihenjisi eziguquguqukayo zinobudlelwane obumalunga ne-angle ejikelezayo yetorque, njengoko kubonisiwe kuMfanekiso 2a. Ngokukodwa, xa indawo yokuhlangana ibekwe kwi-12.73% yobude bengcongolo, ubudlelwane be-torque-rotation angle bunomgca.

^[11]

, ngeli xesha, umzuzu wokubuyisela iMpivot (indlela yewotshi) yehenjisi ebhetyebhetye inxulumene ne-engile yokujikeleza.θ(counterclockwise) ubudlelwane bu

IMpivot=(8EI/L)θ (2)

Kwifomula, i-E yimodyuli e-elastic yezinto eziphathekayo, u-L ubude bengcongolo, kwaye ndingumzuzu we-inertia yecandelo.

(2) Ngokwemodeli yokuqina okujikelezayo kweehenjisi eziguquguqukayo zangaphakathi kunye nezangaphandle, ukuqina okungahambi kakuhle kwendlela ejikelezayo kuhambelana, kunye neempawu zayo ezimbi ziboniswa kuMfanekiso 2b.

(3) Ngenxa yokungazinzi kwendlela yokuqina embi

^[12]

, ukuqina kwehenjisi eguquguqukayo yeqanda kufuneka ibe malunga neqanda kwaye ibe mkhulu kunoziro, njengoko kubonisiwe kuMfanekiso 2c.

1.3 Ingcaciso yesixhobo se-crank spring

Ngokoncwadi [4], ihenjisi eguquguqukayo ye-zero inokwakhiwa ngokuzisa intwasahlobo esele ikhubazeke ngaphambili phakathi komzimba oshukumayo oqinileyo kunye nomzimba oqinileyo oqinileyo wehenjisi eguquguqukayo. Kwiringi yangaphakathi nangaphandle ihenjisi ebhetyebhetye eboniswe kwiFIG. I-1, intwasahlobo yaziswa phakathi kwendandatho yangaphakathi kunye nendandatho yangaphandle, oko kukuthi, iindlela ze-spring-crank (SCM) ziyaziswa. Ngokubhekiselele kwindlela yesilayidi secrank eboniswe kuMfanekiso 3, iiparamitha eziyeleleneyo zomatshini we-crank spring machine zibonisiwe kuMfanekiso 4. Isixhobo se-crank-spring senziwe nge-crank kunye ne-spring (ukubeka ukuqina njenge-k). i-engile yokuqala yi-engile equkiweyo phakathi kwe-crank AB kunye nesiseko se-AC xa intwasahlobo ingakhubazekanga. R imele ubude becrank, l imele ubude besiseko, kwaye ichaza umlinganiselo wobude becrank njengomlinganiselo we r ukuya ku l, I.e. = r/l (0<<1).

Ukwakhiwa komatshini we-crank-spring kufuna ukumiselwa kweeparamitha ezi-4: ubude besiseko l, umlinganiselo wobude becrank, i-engile yokuqala kunye nokuqina kwentwasahlobo K.

Ukuguqulwa komatshini we-crank spring phantsi kwamandla kubonisiwe kuMfanekiso 5a, okwangoku uM

_γ

Phantsi kwentshukumo, i-crank ishukuma ukusuka kwindawo yokuqala AB

_Beta

tyhila kuAB

_γ

, ngexesha lenkqubo yojikelezo, i-engile ebandakanyiweyo yecrank ngokunxulumene nendawo ethe tye

_γ

ebizwa ngokuba yi-crank angle.

Uhlalutyo lomgangatho lubonisa ukuba i-crank ijikeleza ukusuka ku-AB (indawo yokuqala, i-M & i-gamma Uziro) ukuya ku-AB0 (“indawo yokufa”indawo, M

_γ

nguziro), indlela ye-crank-spring inoguquko oluneempawu zokuqina ezingalunganga.

1.4 Ubudlelwane phakathi kwetorque kunye ne-engile yokujikeleza ye-crank spring mechanism

KwiFig. 5, itorque M & i-gamma Ukuhamba ngasekunene kukwanika ithemba, i-engile yecrank & i-gamma i-counterclockwise ilungile, kwaye umzuzu womthwalo we-M ulinganiswe kwaye uhlalutywe ngezantsi.

_γ

nge-crank angle

_γ

Ubudlelwane phakathi kwenkqubo yokwenza imodeli bukhulu.

Njengoko kubonisiwe kumfanekiso 5b, itorque balance equation yecrank AB & i-gamma idwelisiwe.

Kwifomula, uF & i-gamma ngamandla okubuyisela entwasahlobo, d & i-gamma nguF & i-gamma ukukhomba u-A. Cinga ukuba i-displacement-load yobudlelwane bentwasahlobo i

Kwifomula, u-K ukuqina kwentwasahlobo (akuyomfuneko ukuba ibe lixabiso elingaguqukiyo),δ

xγ

sisixa soguquko lwasentwasa hlobo (lucuthelwe ekubeni luhle),δ

xγ

=|B

_Beta

C| – |B

_γ

C|.

Uhlobo lwaxeshanye (3)(5), umzuzwana M

_γ

enekona

_γ

Ubudlelwane bu

1.5 Uhlalutyo lweempawu zokuqina ezingalunganga ze-crank-spring mechanism

Ukuze kuququzelelwe uhlalutyo lweempawu zokuqina ezingalunganga ze-crank-spring mechanism (umzuzu M

_γ

enekona

_γ

ubudlelwane), kunokucingelwa ukuba intwasahlobo inokuqina komgca ochanekileyo, emva koko ifomula (4) inokuphinda ibhalwe njenge

Kwifomula, i-Kconst isoloko ingaphezulu kunoziro. Emva kokuba ubungakanani behinge eguquguqukayo buchongiwe, ubude be-l besiseko bunqunywe kwakhona. Ke ngoko, kucingwa ukuba u-l uyinto engatshintshiyo, ifomula (6) ingaphinda ibhalwe njenge

apho i-Kconstl2 iyinto engatshintshiyo enkulu kunoziro, kunye ne-coefficient yomzuzu m & i-gamma inomlinganiselo omnye. Iimpawu zokuqina okungalunganga kwendlela ye-crank-spring inokufunyanwa ngokuhlalutya ubudlelwane phakathi kwe-torque coefficient m. & i-gamma kunye ne-engile yokujikeleza & gamma.

Ukususela kwi-equation (9), i-Figure 6 ibonisa i-angle yokuqala =π ubudlelwane phakathi m & i-gamma kunye nobude be-crank kunye ne-engile yokujikeleza & gamma;, & isin;[0.1, 0.9],& i-gamma& ingaphakathi;[0, π]. Umzobo 7 ubonisa ubudlelwane phakathi kwe-m & i-gamma kunye ne-engile yokujikeleza & i-gamma kuba = 0.2 kwaye ezahlukeneyo. Umzobo 8 ubonisa =π Xa, phantsi ezahlukeneyo , ubudlelwane phakathi m & i-gamma kunye ne-engile & gamma.

Ngokwenkcazelo ye-crank spring mechanism (icandelo 1.3) kunye nefomula (9), xa i-k kunye no-l zingatshintshi, m & i-gamma Kuphela inxulumene ne-engile & i-gamma;, umlinganiselo wobude becrank kunye ne-engile yokuqalisa i-crank.

(1) Ukuba kwaye kuphela ukuba & i-gamma ilingana no-0 okanyeπ okanye, m & i-gamma ilingana no-zero; & i-gamma & kukho;[0, ],m & i-gamma mkhulu kunoziro; & i-gamma & iphakathi;[π], m & i-gamma ngaphantsi kunoziro. & kukho;[0, ],m & i-gamma mkhulu kunoziro; & i-gamma& iphakathi;[π], m & i-gamma ngaphantsi kunoziro.

(2) & i-gamma Xa [0, ], i-engile yokujikeleza & i-gamma ukwanda, m & i-gamma ukunyuka ukusuka ku-zero ukuya kwi-engile ye-inflection point & i-gamma;0 ithatha elona xabiso liphezulu m & i-gamma; max, kwaye emva koko yehla kancinci.

(3) Ukuqina okungalunganga koluhlu lweempawu ze-crank spring mechanism: & i-gamma& ingaphakathi;[0, & gamma;0], ngeli xesha & i-gamma ukwanda (ngokuchasene newotshi), kunye netorque M & i-gamma ukwanda (ngokuhamba kwewotshi). I-engile ye-inflection point & i-gamma; i-0 ngowona mgangatho wokujikeleza uphezulu wokuqina okungalunganga kophawu lwe-crank-spring mechanism kunye & i-gamma0 & nguwe;[0, ];m & i-gamma; ubuninzi bobona mlinganiso womzuzu ongalunganga. Kunikwe kwaye , ukufunyanwa kwe-equation (9) izivuno & i-gamma0

(4) inkulu i-engile yokuqala, & i-gamma enkulu 0, m

_γubuninzi

inkulu.

(5) ubukhulu bomlinganiselo wobude, & i-gamma encinci 0, m

_γubuninzi

inkulu.

Ngokukodwa, =πIimpawu zokuqina ezingalunganga ze-crank spring mechanism zezona zingcono (uluhlu lwe-engile yokuqina kwe-negative inkulu, kunye ne-torque enokubonelelwa inkulu). =πNgexesha elifanayo, phantsi kweemeko ezahlukeneyo, i-angle ephezulu yokujikeleza & i-gamma yokuqina okungalunganga kweempawu ze-crank spring mechanism; 0 kunye nowona mlinganiso we-torque engalunganga m & i-gamma Ubuninzi budweliswe kwitheyibhile yoku-1.

2 Ukwakhiwa kwehenjisi eguquguqukayo enguziro

Ukumataniswa kokuqina okulungileyo nokubi kwe-2.1 kubonisiwe kuMfanekiso 9, n(n 2) amaqela eendlela zasentwasahlobo ezinxuseneyo zisasazwa ngokulinganayo kumjikelezo, zenza indlela yokuqina engalunganga edityaniswa neehenjisi eziguquguqukayo zeringi yangaphakathi nangaphandle.

Ukusebenzisa iringi yangaphakathi nangaphandle iihenjisi eziguquguqukayo njengenkqubo esezantsi yokuqina, yakha ihenjisi ebhetyebhetye enguziro. Ukuze ufezekise ukuqina kwe-zero, fanisa ukuqina okulungileyo kunye nokubi

ngaxeshanye (2), (3), (6), (11), kunye & gama;=θ, umthwalo F & i-gamma yasentwasahlobo inokufumaneka; kunye nokufuduswaδUbudlelwane x & i-gamma yi

Ngokwecandelo 1.5, uluhlu lwe-engile yokuqina kwe-crank spring mechanism: & i-gamma& ingaphakathi;[0, & gamma;0] kunye & i-gamma0 & isin;[0, ], ukubetha kokuqina kweqanda ihenjisi ebhetyebhetye kuya kuba ngaphantsi & gamma;0, mna .e. intwasahlobo ihlala ikwimo yokukhubazeka (δxγ≠0). Uluhlu olujikelezayo lweehenjisi eziguquguqukayo zeringi yangaphakathi nangaphandle yi±0.35 rad(±20°), yenza lula imisebenzi yetrigonometric isono & i-gamma kunye cos & i-gamma ngoku Landelayo

Emva kokulula, ubudlelwane bomthwalo-wokufuduswa kwentwasahlobo

2.2 Uhlalutyo lwemposiso yemodeli ehambelana nokuqina kunye nengalunganga

Vavanya impazamo ebangelwa kunyango olulula lwe-equation (13). Ngokweeparamitha zokusetyenzwa kwangempela kwe-zero stiffness flexible hinge (Icandelo 4.2):n = 3,l = 40mm, =π, = 0.2,E = 73 GPA; Imilinganiselo yeringi yangaphakathi nangaphandle ebhetyebhetye ihenjisi yengcongolo L = 46mm, T = 0.3mm,W = 9.4mm; Iifomula zokuthelekisa (12) kunye (14) zenza lula ubudlelwane bokufuduswa komthwalo kunye nempazamo ehambelanayo yemithombo yangaphambili nasemva njengoko kubonisiwe kwiMifanekiso 10a kunye ne-10b ngokulandelelanayo.

Njengoko kubonisiwe kuMfanekiso 10, & i-gamma ingaphantsi kwe-0.35 rad (20°), impazamo ehambelanayo ebangelwa unyango olulula kwi-curve-displacement curve ayidluli i-2.0%, kunye nefomula

Unyango olulula lwe-(13) lungasetyenziselwa ukwakha iihenjisi eziguquguqukayo zero-zero.

2.3 Iimpawu zokuqina kwentwasahlobo

Kucingelwa ukuba ukuqina kwentwasahlobo ngu-K, ngaxeshanye (3), (6), (14)

Ngokweyona milinganiselo yokusetyenzwa kwemilinganiselo yokuqina kwehenjisi ebhetyebhetye (iCandelo 4.2), ijiko lokutshintsha lokuqina kwentwasahlobo K nge-engile. & i-gamma iboniswe kuMfanekiso 11. Ngokukodwa, nini & gamma;= 0, K ithatha elona xabiso liphantsi.

Ukuze kube lula ukuyila kunye nokucubungula, intwasahlobo ithatha intwasahlobo yokuqina eqondileyo, kwaye ukuqina yi-Kconst. Kuwo wonke ukubethabethana, ukuba ukuqina okupheleleyo kokuqina koziro ihenjisi ebhetyebhetye mkhulu kuno okanye ilingana noziro, iKconst kufuneka ithathe elona xabiso liphantsi le K.

I-Equation (16) lixabiso lokuqina kwentwasahlobo yokuqina evumayo xa kusakhiwa ihenjisi ebhetyebhetye enguziro. 2.4 Uhlalutyo lobulunga obunokuqina obunguziro Ubudlelwane bokususwa komthwalo wehenjisi eyakhiweyo enguziro-ukuqina bhetyebhetye

Ifomula yaxeshanye (2), (8), (16) inokufumaneka

Ukuze uvavanye umgangatho wokuqina kwe-zero, uluhlu lokunciphisa ukuqina kwehinge ebhetyebhetye phambi nasemva kokongeza imodyuli yokuqina engalunganga ichazwa njengomlinganiso wobulunga obunguziro.η

η Ukusondela kwi-100%, kokukhona umgangatho wokuqina kwe-zero uphezulu. Umfanekiso we-12 ngu-1-η Ubudlelwane kunye nomlinganiselo wobude becrank kunye ne-engile yokuqala η Izimele kwinani n leendlela ezinxuseneyo ze-crank-spring kunye nobude be-l besiseko, kodwa inxulumene kuphela nomlinganiselo wobude becrank, i-engile yokujikeleza. & i-gamma kunye ne-engile yokuqala.

(1) I-engile yokuqala iyanda kwaye umgangatho we-zero uphucula.

(2) Umlinganiselo wobude uyanyuka kwaye umgangatho we-zero uyancipha.

(3) Iengile & i-gamma ukwanda, ukuqina kwe-zero kuyehla.

Ukuze kuphuculwe izinga lokuqina kweqanda lehenjisi ethambileyo enguziro, i-engile yokuqala kufuneka ithathe ixabiso elikhulu; umlinganiselo wobude becrank kufuneka ube mncinci kangangoko. Kwangaxeshanye, ngokweziphumo zohlalutyo kwiCandelo le-1.5, ukuba lincinci kakhulu, ukukwazi kwe-crank-spring mechanism ukubonelela ukuqina okungalunganga kuya kuba buthathaka. Ukuze kuphuculwe umgangatho wokuqina onguziro wehenjisi ethambileyo enguziro, i-engile yokuqala =π, umlinganiselo wobude becrank = 0.2, oko kukuthi, eyona parameters processing yecandelo 4.2 zero stiffness flexible hinge.

Ngokweyona milinganiselo yokucubungula i-zero-stiffness flexible hinge (Icandelo 4.2), ubudlelwane be-torque-angle phakathi kweehenjisi eziguquguqukayo zangaphakathi kunye nezangaphandle kunye ne-zero-stiffness flexible hinge iboniswe kuMfanekiso 13; ukuhla kokuqina ngumlinganiso womgangatho onguziro-ukuqinaηUbudlelwane kunye nekona & i-gamma iboniswe kuMfanekiso 14. Ngomfanekiso 14: Kwi-0.35 rad (20°) uluhlu olujikelezayo, ukuqina kwe-zero-stiffness flexible hinge kuncitshiswa ngomyinge we-97%; 0.26 rad(15°) iikona, iyancipha ngama-95%.

3 Uyilo lwe-linear positive stiffness spring

Ulwakhiwo lwehenjisi ethambileyo enguziro idla ngokuba semva kokuba ubungakanani kunye nokuqina kwehenjisi ebhetyebhetye kumiselwe, kwaye ke ukuqina kwentwasahlobo kwindlela ye-crank spring mechanism ibuyiselwa umva, ngoko ke ukuqina kunye nobukhulu iimfuno zentwasahlobo zingqongqo. Ukongeza, i-angle yokuqala =π, ukusuka kwi-Figure 5a, ngexesha lokujikeleza kwe-zero-stiffness flexible hinge, intwasahlobo ihlala ikwimeko ecinezelweyo, oko kukuthi.“Uxinzelelo lwentwasahlobo”.

Ukuqina kunye nobukhulu bemithombo yoxinzelelo lwemveli kunzima ukwenza ngokuchanekileyo, kwaye indlela yesikhokelo ihlala ifuneka kwizicelo. Ngoko ke, intwasahlobo enobunzima kunye nobukhulu obunokuthi bube ngokwezifiso bucetywayo——Umtya wentwasahlobo omile okwedayimani. Umtya wentwasahlobo omile okwedayimane (Umfanekiso 15) uqulunqwe ngamagqabi amaninzi amile okwedayimani adityaniswe kuthotho. Ineempawu zoyilo lwasimahla kunye nenqanaba eliphezulu lokwenziwa ngokwezifiso. Itekhnoloji yokucubungula kwayo iyahambelana neehenjisi eziguquguqukayo, kwaye zombini zicutshungulwa ngocingo oluchanekileyo.

3.1 Imodeli yokususwa komthwalo womtya wentwasahlobo omile okwedayimani

Ngenxa ye-symmetry ye-rhombic leaf spring, i-spring enye kuphela yeqabunga kufuneka ihlaziywe ngoxinzelelo, njengoko kuboniswe kuMfanekiso 16. α yi-engile phakathi kwengcongolo kunye nokuthe tye, ubude, ububanzi kunye nobukhulu bengcongolo yi-Ld, Wd, Td ngokulandelelanayo, f ngumthwalo odityanisiweyo odibeneyo kwintwasahlobo yeqabunga lerhombus,δy kukuguqulwa kwentwasahlobo yegqabi kwicala lika-y, i-force fy kunye nomzuzu m yimithwalo elinganayo ekupheleni kwengcongolo enye, i-fv kunye ne-fw zizinto zecandelo le-fy kwinkqubo yokulungelelaniswa kwe-wov.

Ngokwethiyori yoguqulo lomqadi we-AWTAR[13], idimensionally edityanisiweyo yokufuduswa kobudlelwane bengcongolo enye.

Ngenxa yokunyanzelwa kobudlelwane bomzimba oqinileyo kwingcongolo, i-engile yokuphela kwengcongolo ngaphambi nasemva koguquko nguziro, oko kukuthi.θ = 0. Ngaxeshanye (20)(22)

I-equation (23) yimodeli yokudibanisa i-dimensional dimensional ye-rhombic leaf spring. Imithombo ye-n2 ye-rhombic yamagqabi idibaniswe kwi-series, kwaye imodeli yayo yokususa umthwalo

Ukususela kwifomula (24), niniαXa i-d incinci, ukuqina komtya weqabunga omile okwedayimani uphantse ube ngumgca phantsi kwemilinganiselo eqhelekileyo kunye nemithwalo eqhelekileyo.

3.2 Isingqinisiso esipheleleyo sokulinganisa imodeli

Ukuqinisekiswa kwezinto ezinqamlekileyo zokulinganisa imodeli yokutshintshwa komthwalo we-diamond-shape leaf spring iqhutywe. Ukusebenzisa i-ANSYS Mechanical APDL 15.0, iiparitha zokulinganisa ziboniswa kwiThebhile 2, kwaye uxinzelelo lwe-8 N lusetyenziswe kwi-spring yeqabunga le-diamond.

Ukuthelekiswa phakathi kweziphumo zemodeli kunye neziphumo zokulinganisa ubudlelwane be-rhombus spring-load load-displacement buboniswe kwiFig. I-17 (i-dimensionalization). Kwimithombo emine yeqabunga le-rhombus enee-angles ezahlukeneyo zokuthambekela, impazamo ehambelanayo phakathi kwemodeli kunye neziphumo zokulinganisa izinto ezinqamlekileyo azidluli kwi-1.5%. Ukunyaniseka kunye nokuchaneka kwemodeli (24) kuqinisekisiwe.

4 Uyilo kunye novavanyo lwehenjisi eguquguqukayo ye-zero

4.1 Uyilo lweParameter ye-zero-stiffness flexible hinge

Ukuyila ihenjisi ebhetyebhetye enguziro-ukuqina, iiparamitha zoyilo zehenjisi ebhetyebhetye kufuneka zimiselwe ngokwemiqathango yenkonzo kuqala, kwaye ke iiparamitha ezifanelekileyo zomatshini we-crank spring kufuneka zibalwe ngokuphambene.

4.1.1 Iiparamitha zehinge eziguquguqukayo

I-intersection point ye-ring flexible hinges yangaphakathi nangaphandle ifumaneka kwi-12.73% yobude bengcongolo, kwaye iiparitha zayo ziboniswe kwiThebhile 3. Kufakwe endaweni ye-equation (2), i-engile ye-torque-rotation ye-engile yangaphakathi nengaphandle yeehenjisi eziguquguqukayo

4.1.2 Iiparamitha zendlela yokuqina engalunganga

Njengoko kubonisiwe kwifig. I-18, ithatha inani n leendlela ze-crank spring ngokunxusene no-3, ubude l = 40 mm bumiselwa bubungakanani behenjisi ebhetyebhetye. ngokwesiphelo secandelo 2.4, i-angle yokuqala =π, umlinganiselo wobude becrank = 0.2. Ngokutsho kwe-equation (16), ukuqina kwentwasahlobo (I.e. idayimani igqabi spring umtya) yi Kconst = 558.81 N/m (26)

4.1.3 Iiparamitha zomtya wentlakohlaza yegqabi ledayimani

ngo-l = 40mm, =π, = 0.2, ubude bokuqala bentwasahlobo yi-48mm, kunye ne-deformation ephezulu (& gamma;= 0) yi 16mm. Ngenxa yokulinganiselwa kwesakhiwo, kunzima kwintwasahlobo enye yeqabunga le-rhombus ukuvelisa i-deformation enkulu kangaka. Ukusebenzisa imithombo emine yeqabunga lerhombus kuthotho (n2 = 4), ukuqina komthombo wamagqabi werhombus

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

Ngokobungakanani bendlela yokuqina engalunganga (Umfanekiso we-18), xa kujongwa ubude bengcongolo, ububanzi kunye ne-engile yokutyekela kwingcongolo yentwasahlobo emile njengedayimani, ingcongolo inokuthatyathwa kwifomula (23) kunye nefomula yokuqina (27) ye intlasa yamagqabi emile okwedayimani Ukutyeba. Iiparamitha zesakhiwo semithombo yamagqabi e-rhombus zidweliswe kwiThebhile 4.

umphezulu4

Ngamafutshane, iiparamitha zokuqina kwehenjisi ethambileyo enguziro ngokusekwe kumatshini we-crank spring sele imisiwe, njengoko kubonisiwe kwiTheyibhile 3 nakwiTheyibhile yesi-4.

4.2 Uyilo kunye nokulungiswa kwesampulu yehinge eguquguqukayo engu-zero Jonga kuncwadi [8] kwindlela yokusetyenzwa kunye novavanyo lwehinge ebhetyebhetye. Ihenjisi ebhetyebhetye enguziro-ukuqina yenziwe yihinge yokuqina engalunganga kunye neringi yangaphakathi nangaphandle ebhetyebhetye ihenjisi ngokunxuseneyo. Uyilo lwesakhiwo luboniswe kuMfanekiso we-19.

Zombini umsesane wangaphakathi kunye nangaphandle iihenjisi eziguquguqukayo kunye nemitya emile njengedayimane yegqabi eligqabi licutshungulwa ngokuchaneka kwezixhobo zoomatshini bokusika ucingo. Iringi yangaphakathi nangaphandle iihenjisi eziguquguqukayo zicutshungulwa kwaye zidityaniswe ngokwemigangatho. Umzobo wama-20 ngumfanekiso obonakalayo weeseti ezintathu zeentambo zentwasahlobo ezimile okwedayimani, kwaye uMzobo wama-21 udityaniselwe ukuqina kweqanda Umfanekiso wesampulu yehenjisi ebhetyebhetye.

4.3 Iqonga lokuvavanya ukuqina okujikelezayo kwe-zero-stiffness flexible hinge Ngokubhekiselele kwindlela yokuvavanya ukuqina okujikelezayo kwi- [8], iqonga lokuvavanya ukuqina okujikelezayo kwehinge eguquguqukayo ye-zero yakhiwe, njengoko kuboniswe kuMfanekiso 22.

4.4 Ukusetyenzwa kwedatha yovavanyo kunye nohlalutyo lweempazamo

Ukuqina okujikelezayo kweehenjisi eziguquguqukayo zangaphakathi nangaphandle kunye ne-zero-stiffness flexible hinges kwavavanywa kwiqonga lovavanyo, kwaye iziphumo zovavanyo ziboniswe kuMfanekiso 23. Bala kwaye uzobe igophe lobulunga obunguziro-zero-ukuqina kwehenjisi ebhetyebhetye ngokwefomula (19), njengoko kubonisiwe kwiFig. 24.

Iziphumo zovavanyo zibonisa ukuba ukuqina okujikelezayo kwehenjisi eguquguqukayo ye-zero kusondele kwi-zero. Xa kuthelekiswa nehenjisi yangaphakathi nangaphandle yeringi ebhetyebhetye, ukuqina kweqanda okuguquguqukayo kwehenjisi±0.31 rad(18°) ukuqina kwehliswe ngomyinge wama-93%; 0.26 rad (15°), ukuqina kuyancipha nge-90%.

Njengoko kubonisiwe kwiMifanekiso ye-23 kunye ne-24, kusekho i-gap ethile phakathi kweziphumo zovavanyo lokuqina kwe-zero kunye neziphumo zemodeli yethiyori (impazamo ehambelanayo ingaphantsi kwe-15%), kwaye izizathu eziphambili zephutha zilandelayo.

(1) Impazamo yemodeli ebangelwa ukwenziwa lula kwemisebenzi yetrigonometric.

(2) Ukungqubana. Kukho ukukhuhlana phakathi komtya wentwasahlobo wegqabi ledayimani kunye neshaft yokunyuka.

(3) Impazamo yokucubungula. Kukho iimpazamo kubungakanani bokwenene bengcongolo, njl.

(4) Impazamo yeNdibano. I-gap phakathi komngxuma wofakelo womtya we-diamond weqabunga leqabunga kunye ne-shaft, i-gap yokufakela isixhobo sovavanyo lweqonga, njl.

4.5 Ukuthelekisa ukusebenza kunye nehenjisi eguquguqukayo ye-zero eqhelekileyo Kuncwadi [4], i-zero-stiffness flexible hinge ZSFP_CAFP yakhiwa kusetyenziswa i-cross-axis flexural pivot (CAFP), njengoko kubonisiwe kuMfanekiso 25.

Ukuthelekisa ihenjisi eguquguqukayo enguziro ZSFP_IORFP (Fig. 21) kunye ne-ZSFP_CAFP (Fig. 25) yakhiwe kusetyenziswa umsesane wangaphakathi nangaphandle iihenjisi eziguquguqukayo

(1) ZSFP_IORFP, isakhiwo sihlangene ngakumbi.

(2) Uluhlu lwekona ye-ZSFP_IORFP luncinci. Uluhlu lwekona lukhawulelwe luluhlu lwekona yehinge eguquguqukayo ngokwayo; Uluhlu lwekona ye ZSFP_CAFP80°, ZSFP_IORFP uluhlu lwekona40°.

(3) ±18°Kuluhlu lweekona, i-ZSFP_IORFP inomgangatho ophezulu wokuqina kwe-zero. Umyinge wokuqina kwe-ZSFP_CAFP uncitshiswe nge-87%, kwaye umyinge wokuqina kwe-ZSFP_IORFP uncitshiswe nge-93%.

5 isiphelo

Ukuthatha ihenjisi eguquguqukayo yamakhonkco angaphakathi nangaphandle phantsi kwetorque ecocekileyo njengenkqubo esezantsi yokuqina, lo msebenzi ulandelayo wenziwe ukuze kwakhiwe ihenjisi eguquguqukayo engu-zero.

(1) Cebisa ngendlela engalunganga yokujikeleza kokuqina——Kumatshini we-crank spring, imodeli (iFormula (6)) yamiselwa ukuhlalutya ifuthe leeparamitha zesakhiwo kwiimpawu zokuqina kwayo ezingalunganga, kunye noluhlu lweempawu zokuqina ezingalunganga zanikwa (Itheyibhile 1).

(2) Ngokuthelekisa ukuqina okulungileyo kunye nokubi, iimpawu zokuqina kwentwasahlobo kwindlela yasentwasahlobo ye-crank (Equation (16)) zifunyenwe, kwaye imodeli (Equation (19)) isekwe ukuhlalutya isiphumo separameters zesakhiwo. Isixhobo se-crank spring kumgangatho ongunothi wokuqina kokuqina kweqanda ihenjisi ebhetyebhetye ihenjisi Impembelelo, ngokwethiyori, ngaphakathi kwe-stroke ekhoyo yehenjisi ebhetyebhetye yeringi zangaphakathi nezingaphandle (±20°), ukuncitshiswa okuqhelekileyo kokuqina kunokufikelela kwi-97%.

(3) Cebisa ukuqina okwenziwa ngokwezifiso“intwasahlobo”——Umtya wentlakohlaza omile okwedayimani omile njengedayimani ukuseka imodeli yokuqina kwawo (Equation (23)) kwaye yaqinisekiswa ngendlela ye element enomda.

(4) Kugqitywe uyilo, ukusetyenzwa kunye novavanyo lwesampulu yehenjisi ethambileyo enguziro. Iziphumo zovavanyo zibonisa ukuba: phantsi kwesenzo setorque ecocekileyo, i36°Kuluhlu lwee-angles ezijikelezayo, xa kuthelekiswa ne-ring flexible hinges yangaphakathi nangaphandle, ukuqina kwe-zero-stiffness flexible hinge kuncitshiswe nge-93% ngokomndilili.

Ihinge eyakhiweyo engagungqiyo enguziro iphantsi kwentshukumo yetorque esulungekileyo, enokuqonda.“zero ukuqina”, ngaphandle kokuqwalasela imeko yokuthwala iimeko ezinzima zokulayisha. Ngoko ke, ukwakhiwa kweehenjisi eziguquguqukayo zero-zero phantsi kweemeko ezinzima zomthwalo kugxininiso lophando olongezelelweyo. Ukongeza, ukunciphisa ukukhuhlana okukhoyo ngexesha lokuhamba kweehenjisi eziguquguqukayo zero-ziro yindlela ebalulekileyo yokuphucula i-zero-stiffness flexible hinges.

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Malunga nombhali: uBi Shusheng (umbhali ohambelanayo), indoda, owazalwa ngo-1966, ugqirha, uprofesa, umphathi wobugqirha. Umkhombandlela wakhe ophambili wophando yindlela eguquguqukayo ngokupheleleyo kunye nerobhothi ye-bionic.