Abstract: Ukuqina okujikelezayo kwehinge eguquguqukayo enguziro-ukuqina kucishe kube uziro, onqoba isici esidinga amahinge aguquguqukayo adinga i-torque yokushayela, futhi angasetshenziswa kuma-grippers aguquguqukayo nezinye izinkambu. Ukuthatha amahinji endandatho yangaphakathi nangaphandle aguquguqukayo ngaphansi kwesenzo setorque emsulwa njengesistimu engaphansi yokuqina, ucwaningo Indlela yokuqina engalungile kanye nokuqina okuhambisanayo okuhle nokubi kungakha ihinji eguquguqukayo eyiziro. Phakamisa indlela yokuzungezisa ukuqina kokuqina——I-Crank spring mechanism, imodeli futhi yahlaziya izici zayo ezingezinhle zokuqina; ngokufanisa ukuqina okuhle nokubi, kuhlaziye umthelela wezinhlaka zesakhiwo se-crank spring mechanism kukhwalithi enguziro yokuqina; uhlongoze isiphethu esinomugqa oqinile nosayizi owenziwe ngokwezifiso——Intambo yentwasahlobo yeqabunga emise okwedayimane, imodeli yokuqina yasungulwa futhi ukuqinisekiswa kwesici esilinganiselwe sokulingisa kwenziwa; ekugcineni, ukuklama, ukucubungula kanye nokuhlolwa kwesampula yehinji eguquguqukayo enguziro-okuqina kwaqedwa. Imiphumela yokuhlolwa ibonise ukuthi: ngaphansi kwesenzo setorque emsulwa,±18°Ebangeni lama-engeli ajikelezayo, ukuqina okujikelezayo kwehinji eguquguqukayo yeqanda-ukuqina kungaphansi ngo-93% kunaleyo yamahinji eringi yangaphakathi nangaphandle ngokwesilinganiso. Ihinge elakhiwe liziro-ukuqina eliguquguqukayo linesakhiwo esihlangene kanye nekhwalithi ephezulu yokuqina kweqanda; indlela yokuzungezisa ehlongozwayo yokuqina kwenegethivu kanye nomugqa Intwasahlobo inenani elikhulu eliyireferensi ocwaningweni lwendlela eguquguqukayo.

0 isandulela

Ihinge eliguquguqukayo (elithwele)

^[1-2]

Ngokuncika ekuguqukeni kokunwebeka kweyunithi eguquguqukayo ukuze idlulise noma iguqule ukunyakaza, amandla namandla, isetshenziswe kabanzi ekumiseni okunembayo nakwezinye izinkambu. Uma kuqhathaniswa namabheringi endabuko aqinile, kunesikhathi sokubuyisela lapho ihinge eguquguqukayo izungeza. Ngakho-ke, iyunithi yokushayela idinga ukuhlinzeka ngetorque ephumayo ukuze ishayele futhi Gcina ukuzungezisa kwehinge eguquguqukayo. Ihinge eguquguqukayo enguziro

^[3]

(I-Zero stiffness flexural pivot, ZSFP) iyijoyinti eliguqukayo eliguquguqukayo ukuqina kwalo okujikelezayo kucishe kube yiziro. Lolu hlobo lwehinge oluguquguqukayo lungahlala kunoma iyiphi indawo ngaphakathi kwebanga le-stroke, elaziwa nangokuthi i-static balance flexible hinge.

^[4]

, asetshenziswa kakhulu emikhakheni enjengama-flexible grippers.

Ngokusekelwe kumqondo we-modular design wendlela eguquguqukayo, lonke uhlelo lwehinge oluguquguqukayo lwe-zero-ukuqina lungahlukaniswa ngamasistimu angaphansi amabili okuqina okuhle nokubi, futhi uhlelo lokuqina kweqanda lungabonakala ngokuqhathanisa ukuqina okuhle nokubi.

^[5]

. Phakathi kwazo, uhlelo olungaphansi lokuqina oluqondile luvamise ukuba yihinji eguquguqukayo ene-stroke enkulu, njengehinji eguquguqukayo yomhlanga ophambanayo.

^[6-7]

, ihinge evamile eneziphambano ezintathu eziguquguqukayo

^[8-9]

kanye namahinji endandatho yangaphakathi nangaphandle aguquguqukayo

^[10-11]

Njll. Njengamanje, ucwaningo lwamahinge aguquguqukayo luzuze imiphumela eminingi, ngakho-ke, isihluthulelo sokuklama amahinge aguquguqukayo angaqinile ukufanisa amamojula afanelekile okuqina amahinge aguquguqukayo[3].

Amahinge endandatho yangaphakathi nangaphandle aguquguqukayo (Ama-pivots endandatho yangaphakathi nangaphandle, i-IORFP) anezici ezinhle kakhulu mayelana nokuqina, ukunemba kanye nokukhukhuleka kwezinga lokushisa. Imojula yokuqina ehambisanayo engalungile inikeza indlela yokwakha yehinji eguquguqukayo enguziro-ukuqina, futhi ekugcineni, iqedela ukwakheka, ukucubungula isampula kanye nokuhlolwa kwehinji eguquguqukayo enguziro-ukuqina.

1 i-crank spring mechanism

1.1 Incazelo ye-negative stiffness

Incazelo evamile yokuqina K izinga loshintsho phakathi komthwalo F othwalwa isici esinwebekayo kanye ne-deformation ehambisanayo ne-dx.

K= dF/dx (1)

Lapho ukukhuphuka komthwalo we-elastic element kuphambene nesibonakaliso sokukhuphuka kwe-deformation ehambisanayo, ukuqina okungalungile. Ngokomzimba, ukuqina okungalungile kuhambisana nokungazinzi kwe-static element ye-elastic

^[12]

.Izindlela zokuqina ezingezinhle zidlala indima ebalulekile emkhakheni webhalansi eguquguqukayo emile. Ngokuvamile, izindlela zokuqina ezingezinhle zinezimpawu ezilandelayo.

(1) Umshini ugcina inani elithile lamandla noma ushintshashintsha.

(2) Indlela yokusebenza isesimweni esibucayi sokungazinzi.

(3) Uma umshini uphazamiseka kancane futhi ushiya indawo yokulinganisa, ungakhulula amandla amakhulu, asendleleni efanayo nokunyakaza.

1.2 Umgomo wokwakha wehinji eguquguqukayo eziro-zero

Ihinge eguquguqukayo engaqini uziro ingakhiwa ngokusebenzisa ukufanisa ukuqina okuhle nokubi, futhi umgomo uboniswa kuMfanekiso 2.

(1) Ngaphansi kwesenzo setorque emsulwa, amahinji aguqukayo endandatho yangaphakathi neyangaphandle anobudlelwano obucishe bube bomugqa we-torque-rotation, njengoba kuboniswe kuMfanekiso 2a. Ikakhulukazi, uma indawo yomgwaqo itholakala ku-12.73% wobude bomhlanga, ubuhlobo be-engeli yokuzungezisa itorque buwumugqa.

^[11]

, ngalesi sikhathi, umzuzu wokubuyisela i-Mpivot (indlela yewashi) yehinji eguquguqukayo ihlobene ne-engeli yokujikelezaθ(ngokuphambene newashi) ubudlelwano

I-Mpivot=(8EI/L)θ (2)

Kufomula, u-E uyimoduli enwebekayo yezinto ezibonakalayo, u-L ubude bomhlanga, futhi mina ngiwumzuzu we-inertia yesigaba.

(2) Ngokuvumelana nemodeli yokuqina ejikelezayo yamahinji aguquguqukayo endandatho yangaphakathi nangaphandle, ukuqina okungalungile okuzuzisayo kufaniswe, futhi izici zayo ezingezinhle zokuqina ziboniswa kuMfanekiso 2b.

(3) Ngokubona ukungazinzi kwendlela yokuqina engalungile

^[12]

, ukuqina kwehinji eguquguqukayo engaqini uziro kufanele kube cishe uziro futhi kukhulu kunoziro, njengoba kuboniswe kuMfanekiso 2c.

1.3 Incazelo ye-crank spring mechanism

Ngokusho kwezincwadi [4], ihinge eguquguqukayo engaqini uziro ingakhiwa ngokwethula isiphethu esonakele ngaphambili phakathi komzimba onyakazayo oqinile kanye nomzimba oqinile oqinile wehinji eguquguqukayo. Okwehinji yangaphakathi nengaphandle iringi eguquguqukayo eboniswe ku-FIG. 1, kwethulwa isiphethu phakathi kwendandatho yangaphakathi nendandatho yangaphandle, okungukuthi, i-spring-crank mechanisms (SCM) yethulwa. Ngokubhekiselwa kumshini wesilayidi se-crank eboniswe kuMfanekiso 3, imingcele ehlobene ye-crank spring mechanism iyaboniswa kuMfanekiso 4. I-crank-spring mechanism yakhiwe nge-crank kanye nesiphethu (misa ukuqina njengo-k). i-engeli yokuqala i-engeli efakiwe phakathi kwe-crank AB kanye ne-base AC lapho intwasahlobo ingakhubazekile. U-R umele ubude be-crank, u-l umele ubude besisekelo, futhi uchaza isilinganiso sobude be-crank njengesilinganiso sika-r kuya ku-l, I.e. = r/l (0<<1).

Ukwakhiwa kwendlela ye-crank-spring kudinga ukunqunywa kwamapharamitha angu-4: ubude besisekelo l, isilinganiso sobude be-crank , i-engeli yokuqala kanye nokuqina kwentwasahlobo K.

Ukuguquguquka kwe-crank spring mechanism ngaphansi kwamandla kuboniswa kuMfanekiso 5a, okwamanje i-M

_γ

Ngaphansi kwesenzo, i-crank isuka endaweni yokuqala AB

_I-Beta

vula ku-AB

_γ

, phakathi nenqubo yokuzungezisa, i-engeli efakiwe ye-crank ehlobene nendawo evundlile

_γ

ebizwa ngokuthi i-crank angle.

Ukuhlaziywa kwekhwalithi kubonisa ukuthi i-crank izungeza ukusuka ku-AB (indawo yokuqala, i-M & i-gamma; Uziro) ukuya ku-AB0 (“indawo efile”indawo, M

_γ

inguziro), umshini we-crank-spring unokonakala okunezici zokuqina ezingezinhle.

1.4 Ubudlelwano phakathi kwetorque ne-engeli yokuzungezisa ye-crank spring mechanism

Emfanekisweni. 5, i-torque M & i-gamma; ngokwewashi iphozithivu, i-engeli ye-crank & i-gamma; i-counterclockwise iphozithivu, futhi umthwalo wesikhashana ongu-M uyamodela futhi uhlaziywe ngezansi.

_γ

nge-crank angle

_γ

Ubudlelwano phakathi kwenqubo yokumodela bukhulu.

Njengoba kukhonjisiwe kuMfanekiso 5b, ibhalansi yetorque ye-crank AB & i-gamma ibaliwe.

Kufomula, uF & i-gamma; ingamandla okubuyisela entwasahlobo, d & i-gamma; ngu-F & i-gamma; ukukhomba u-A. Cabanga ukuthi ukuhlobana komthwalo wokufuduka kwentwasahlobo kunjalo

Kufomula, u-K ukuqina kwentwasahlobo (hhayi ngempela inani elihlala njalo),δ

xγ

inani le-spring deformation (elifushanisiwe libe lihle),δ

xγ

=|B

_I-Beta

C| – |B

_γ

C|.

Uhlobo olufanayo (3)(5), isikhashana M

_γ

ngekhona

_γ

Ubudlelwano bu

1.5 Ukuhlaziywa kwezici zokuqina ezingezinhle ze-crank-spring mechanism

Ukuze kube lula ukuhlaziya izici zokuqina ezingezinhle ze-crank-spring mechanism (isikhathi esingu-M

_γ

ngekhona

_γ

ubuhlobo), kungase kucatshangwe ukuthi intwasahlobo inokuqina komugqa oqondile, bese ifomula (4) ingabhalwa kabusha ngokuthi

Kufomula, i-Kconst inkulu kunoziro. Ngemuva kokuthi ubukhulu behinge eguquguqukayo bunqunyiwe, ubude l besisekelo bubuye bunqunywe. Ngakho-ke, kucatshangwa ukuthi u-l uyisimo esingaguquki, ifomula (6) ingaphinda ibhalwe njenge

lapho i-Kconstl2 iyinkulu ngokuqhubekayo kunoziro, kanye ne-coefficient yomzuzu m & i-gamma; inobukhulu bokukodwa. Izici zokuqina ezingezinhle ze-crank-spring mechanism zingatholwa ngokuhlaziya ubudlelwano phakathi kwe-torque coefficient m. & i-gamma; kanye ne-engeli yokujikeleza & gamma.

Kusukela ku-equation (9), Umfanekiso 6 ubonisa i-engeli yokuqala =π ubudlelwano phakathi m & i-gamma; kanye nesilinganiso sobude be-crank kanye ne-rotation angle & gamma;, & isin;[0.1, 0.9],& i-gamma;& isin;[0, π]. Umfanekiso wesi-7 ukhombisa ubudlelwane phakathi kwe-m & i-gamma; kanye ne-rotation angle & i-gamma; okwe = 0.2 nokuhlukile . Umfanekiso 8 ukhombisa =π Lapho, ngaphansi kokwehlukile, ubudlelwano phakathi kwe-m & i-gamma; kanye ne-engeli & gamma.

Ngokwencazelo yomshini we-crank spring (isigaba 1.3) kanye nefomula (9), lapho u-k no-l engaguquki, m & i-gamma; Ihlobene ne-engeli kuphela & i-gamma;, isilinganiso sobude be-crank kanye ne-engeli yokuqala ye-crank.

(1) Uma futhi kuphela uma & i-gamma; ilingana no-0 nomaπ noma, m & i-gamma; ilingana noziro; & i-gamma; & yini;[0, ],m & i-gamma; mkhulu kunoziro; & i-gamma; & isin;[π],m & i-gamma; ngaphansi kukaziro. & yini;[0, ],m & i-gamma; mkhulu kunoziro; & i-gamma;& isin;[π],m & i-gamma; ngaphansi kukaziro.

(2) & i-gamma; Lapho [0, ], i-engeli yokuzungezisa & i-gamma; ukwanda, m & i-gamma; inyuka isuka kuziro iye ku-engeli yephoyinti le-inflection & i-gamma;0 ithatha inani eliphakeme elingu-m & i-gamma; max, bese iyancipha kancane kancane.

(3) Ububanzi besici bokuqina obubi bendlela ye-crank spring: & i-gamma;& isin;[0, & gamma;0], ngalesi sikhathi & i-gamma; iyanda (ngokuphambene newashi), kanye ne-torque M & i-gamma; iyanda (ngokwewashi). I-engeli yephoyinti le-inflection & i-gamma;0 i-engeli ephezulu yokuzungezisa yesici sokuqina esinegethivu se-crank-spring mechanism kanye & i-gamma;0 & usho;[0, ];m & i-gamma;ubukhulu ubuningi be-coefficient yesikhathi esinegethivu. Kunikezwe futhi , ukutholwa kwezibalo (9) kuthela & i-gamma;0

(4) i-engeli yokuqala enkulu, & i-gamma; enkulu 0,m

_γubuningi

enkulu.

(5) ubukhulu besilinganiso sobude, & i-gamma; encane 0, m

_γubuningi

enkulu.

Ikakhulukazi, =πIzici zokuqina ezingezinhle zomshini we-crank spring yizona ezihamba phambili (ububanzi be-engeli yokuqina bokuqina bukhulu, kanye ne-torque enganikezwa inkulu). =πNgesikhathi esifanayo, ngaphansi kwezimo ezahlukene, i-angle yokujikeleza ephezulu & i-gamma yokuqina okungekuhle kwesici se-crank spring mechanism; 0 kanye ne-coefficient yetorque engu-negative m & i-gamma; I-Max isohlwini lwethebula 1.

2 Ukwakhiwa kwehinji eguquguqukayo engaqini uziro

Ukumataniswa kokuqina okuphozithivu nokunegethivu kwe-2.1 kuboniswa kuMfanekiso 9, n(n 2) amaqembu wezindlela zentwasahlobo ze-crank ezihambisanayo asatshalaliswa ngokulinganayo kumjikelezo, okwenza indlela yokuqina eyinegethivu ehambisana namahinge angaphakathi nangaphandle aguquguqukayo.

Usebenzisa amahinge avumelana nezimo wangaphakathi nangaphandle njengesistimu engaphansi yokuqina, yakha ihinge eguquguqukayo engaqini uziro. Ukuze uzuze ukuqina kweqanda, fanisa ukuqina okuhle nokubi

kanyekanye (2), (3), (6), (11), kanye & gama;=θ, umthwalo F & i-gamma yasentwasahlobo ingatholakala; kanye nokufudukaδUbudlelwano be-x & i-gamma; kuyinto

Ngokwesigaba 1.5, i-engeli yokuqina engalungile ye-crank spring mechanism: & i-gamma;& isin;[0, & gamma;0] futhi & i-gamma;0 & isin;[0, ], i-stroke yehinji eguquguqukayo enguziro izoba ngaphansi & gamma;0, ngi.e. intwasahlobo ihlala isesimweni esikhubazekile (δxγ≠0). Ububanzi bokuzungezisa bamahinji aguquguqukayo endandatho yangaphakathi nangaphandle bu±0.35 rad(±20°), yenza lula imisebenzi ye-trigonometric isono & i-gamma; futhi cos & i-gamma; Ngokulandelayo

Ngemuva kokwenza lula, ubudlelwano bokuthutha umthwalo wentwasahlobo

2.2 Ukuhlaziywa kwephutha kwemodeli yokufanisa evumayo noma embi

Linganisa iphutha elidalwe ukuphathwa kwezibalo okwenziwe lula (13). Ngokuvumelana namapharamitha wangempela wokucubungula wehinji enguziro yokuqina eguquguqukayo (Isigaba 4.2):n = 3,l = 40mm, =π, = 0.2,E = 73 GPa; Ubukhulu bendandatho yangaphakathi nengaphandle yehinge umhlanga L = 46mm,T = 0.3mm,W = 9.4mm; Amafomula okuqhathanisa (12) kanye (14) enza kube lula ubudlelwano bokususwa komthwalo kanye nephutha elihlobene lemithombo yangaphambili nengemuva njengoba kuboniswe kuMfanekiso 10a no-10b ngokulandelanayo.

Njengoba kuboniswe kuMfanekiso 10, & i-gamma; ingaphansi kuka-0.35 rad (20°), iphutha elihlobene elidalwe ukwelashwa okwenziwe lula kwijika lokususa umthwalo alidluli u-2.0%, kanye nefomula

Ukwelashwa okwenziwe lula kwe-(13) kungasetshenziselwa ukwakha amahinji aguquguqukayo angaqini.

2.3 Izici zokuqina kwentwasahlobo

Uma sicabanga ukuthi ukuqina kwentwasahlobo kungu-K, kanyekanye (3), (6), (14)

Ngokuya ngamapharamitha wangempela wokucubungula wehinji enguziro yokuqina evumelana nezimo (Isigaba 4.2), ijika elishintshayo lokuqina kwentwasahlobo K ene-engeli & i-gamma; kuboniswe kuMfanekiso 11. Ikakhulukazi, nini & i-gamma;= 0, K ithatha inani elincane.

Ukuze kube lula ukuklama nokucutshungulwa, intwasahlobo isebenzisa intwasahlobo yokuqina eqondile, futhi ukuqina kuyi-Kconst. Kuyo yonke i-stroke, uma ingqikithi yokuqina kwehinji enguziro yokuqina eguquguqukayo inkulu noma ilingana noziro, i-Kconst kufanele ithathe inani eliphansi lika-K.

Isibalo (16) yinani lokuqina lomugqa wokuqina ophozizithivu intwasahlobo lapho kwakhiwa ihinge eguquguqukayo enguziro. 2.4 Ukuhlaziywa kwekhwalithi yokuqina kweqanda Ubudlelwane bokususwa komthwalo wehinji eyakhelwe ukuqina kweqanda eguquguqukayo

Ifomula ngesikhathi esisodwa (2), (8), (16) ingatholakala

Ukuze uhlole ikhwalithi yokuqina kweqanda, ububanzi obuncishisiwe bokuqina kwehinge okuguquguqukayo ngaphambi nangemuva kokwengeza imojuli yokuqina engalungile ichazwa njenge-coefficient yekhwalithi enguziro.η

η Lapho isondela ku-100%, izinga eliphezulu lokuqina kweqanda liphezulu. Umfanekiso 12 ngu-1-η Ubudlelwano nesilinganiso sobude be-crank kanye ne-engeli yokuqala η Izimele kunombolo n yezindlela ezihambisanayo ze-crank-spring kanye nobude l besisekelo, kodwa ihlobene kuphela nesilinganiso sobude be-crank, i-engeli yokuzungezisa & i-gamma; kanye ne-engeli yokuqala .

(1) I-engeli yokuqala iyakhuphuka futhi ikhwalithi yokuqina enguziro iyathuthuka.

(2) Isilinganiso sobude siyakhuphuka futhi ikhwalithi yokuqina enguziro iyehla.

(3) I-engeli & i-gamma; inyuka, ikhwalithi yokuqina enguziro iyehla.

Ukuze kuthuthukiswe ikhwalithi yokuqina enguziro yehinge eguquguqukayo enguziro, i-engeli yokuqala kufanele ithathe inani elikhulu; isilinganiso sobude be-crank kufanele sibe sincane ngangokunokwenzeka. Ngesikhathi esifanayo, ngokwemiphumela yokuhlaziya eSigabeni 1.5, uma sisincane kakhulu, amandla omshini we-crank-spring ukunikeza ukuqina okungekuhle azoba buthakathaka. Ukuze uthuthukise ikhwalithi yokuqina enguziro yehinge eguquguqukayo enguziro, i-engeli yokuqala =π, isilinganiso sobude be-crank = 0.2, okungukuthi, amapharamitha wangempela wokucubungula wesigaba 4.2 ihinge eliziro lokuqina elivumelana nezimo.

Ngokuvumelana namapharamitha wangempela wokucubungula wehinji eguquguqukayo enguziro-ukuqina (Isigaba 4.2), ubudlelwane be-torque-engeli phakathi kwamahinji aguquguqukayo endandatho yangaphakathi neyangaphandle kanye nehinji eguquguqukayo enguziro-ukuqina kuboniswa kuMfanekiso 13; ukwehla kokuqina yi-coefficient yekhwalithi enguziroηUbudlelwano ekhoneni & i-gamma; kuboniswe kuMfanekiso 14. Ngomfanekiso 14: Ku-0.35 rad (20°) ububanzi bokuzungezisa, ukuqina kwehinji eguquguqukayo yeqanda-ukuqina kwehliswa ngesilinganiso esingu-97%; 0.26 rad(15°) amakhona, yehliswe ngo-95%.

3 Idizayini yomugqa wokuqina kokuqina kwentwasahlobo

Ukwakhiwa kwehinji eguquguqukayo enguziro ngokuvamile kwenzeka ngemva kokunqunywa kobukhulu nokuqina kwehinji eguquguqukayo, bese ukuqina kwentwasahlobo emshinini we-crank spring kuguqulwa, ngakho ukuqina nosayizi izidingo zentwasahlobo ziqinile uma kuqhathaniswa. Ngaphezu kwalokho, i-engeli yokuqala =π, kusukela ku-Figure 5a, ngesikhathi sokujikeleza kwehinge eguquguqukayo ye-zero-ukuqina, intwasahlobo ihlale isesimweni sokucindezelwa, okungukuthi“Intwasahlobo yokucindezela”.

Ukuqina nobukhulu beziphethu zokucindezela zendabuko kunzima ukwenza ngendlela oyifisayo ngokunembile, futhi indlela yokuqondisa ivamise ukudingeka ezinhlelweni zokusebenza. Ngakho-ke, intwasahlobo okuqina kwayo nobukhulu kungenziwa ngokwezifiso kuhlongozwa——Intambo yentwasahlobo yeqabunga emise okwedayimane. Intambo yentwasahlobo yeqabunga emise okwedayimane (Umfanekiso 15) yakhiwe ngeziphethu zamaqabunga amise okwedayimane axhunywe ochungechungeni. Inezici zokuklama kwesakhiwo samahhala kanye nezinga eliphezulu lokwenza ngokwezifiso. Ubuchwepheshe bayo bokucutshungulwa buhambisana nobomahinge aguquguqukayo, futhi womabili acutshungulwa ngokusikwa kwentambo ngokunemba.

3.1 Imodeli yokugudluza ukulayisha yochungechunge lweqabunga elimise okwedayimane

Ngenxa yokulinganisa kwentwasahlobo yeqabunga le-rhombic, intwasahlobo yeqabunga eyodwa kuphela edinga ukuhlaziya ukucindezeleka, njengoba kuboniswe kuMfanekiso 16. α i-engeli ephakathi komhlanga nokuvundlile, ubude, ububanzi nobukhulu bomhlanga yi-Ld, Wd, Td ngokulandelanayo, f ingumthwalo ohlangene ohlangene entwasahlobo yeqabunga le-rhombus,δy ukuwohloka kwentwasahlobo yeqabunga eliyi-rhombic ohlangothini y, i-force fy kanye nomzuzu m yimithwalo elinganayo ekugcineni komhlanga owodwa, i-fv kanye ne-fw ingamandla ayingxenye ye-fy ohlelweni lokuxhumanisa i-wov.

Ngokuvumelana nethiyori ye-deformation ye-AWTAR[13], ukuhlobana komthwalo ohlangene okuhlangene komhlanga owodwa

Ngenxa yobudlelwano obubambekayo bomzimba oqinile emhlangeni, i-engeli yokugcina yomhlanga ngaphambi nangemva kokuguquka inguziro, okungukuthi.θ = 0. Kanyekanye (20)(22)

I-equation (23) iyimodeli yokuhlanganisa ubukhulu bomthwalo wokuthutha we-rhombic leaf spring. I-n2 rhombic leaf springs ixhunywe ochungechungeni, futhi imodeli yayo yokususa umthwalo

Kusukela kufomula (24), niniαUma u-d emncane, ukuqina kocu lwentwasahlobo yeqabunga elimise okwedayimane cishe kumugqa ngaphansi kobukhulu obujwayelekile nemithwalo evamile.

3.2 Ukuqinisekiswa kwesici esiphelele sokulingisa imodeli

Ukuqinisekiswa kwesici esinqunyiwe sokulingiswa kwemodeli yokususa umthwalo wentwasahlobo yamaqabunga amise okwedayimane iyenziwa. Kusetshenziswa i-ANSYS Mechanical APDL 15.0, imingcele yokulingisa iboniswa kuThebula 2, futhi ingcindezi engu-8 N isetshenziswa esiphethwini samaqabunga amise okwedayimane.

Ukuqhathaniswa phakathi kwemiphumela yemodeli kanye nemiphumela yokulingisa yobudlelwane bokususwa komthwalo weqabunga le-rhombus kuboniswa ku-Fig. 17 (i-dimensionalization). Eziphethwini ezine zamaqabunga e-rhombus anama-engeli ahlukene okuthambekela, iphutha elihlobene phakathi kwemodeli kanye nemiphumela yokulingisa yezinto ezinomkhawulo aweqeli u-1.5%. Ukufaneleka nokunemba kwemodeli (24) kuqinisekisiwe.

4 Idizayini nokuhlolwa kwehinji eguquguqukayo eyiziro

4.1 Idizayini yepharamitha yehinji eguquguqukayo enguziro-ukuqina

Ukuze udizayine ihinji eguquguqukayo engaqini uziro, imingcele yedizayini yehinji eguquguqukayo kufanele inqunywe ngokuya ngezimo zesevisi kuqala, bese imingcele efanelekile yomshini we-crank spring kufanele ibalwe ngokuphambene.

4.1.1 Imingcele yehinge eguquguqukayo

Iphoyinti lokuphambana lamahinji elithambile langaphakathi nangaphandle liku-12.73% wobude bomhlanga, futhi imingcele yakhona ikhonjiswe kuThebula lesi-3. Ishintshanisa i-equation (2), ubuhlobo be-engeli yokuzungezisa itorque yamahinji aguqukayo endandatho yangaphakathi neyangaphandle

4.1.2 Imingcele yendlela yokuqina engalungile

Njengoba kuboniswe emkhiwaneni. 18, ukuthatha inombolo n yezindlela ze-crank spring ngokuhambisana no-3, ubude l = 40 mm bunqunywa usayizi wehinji eguquguqukayo. ngokwesiphetho sesigaba 2.4, i-engeli yokuqala =π, isilinganiso sobude be-crank = 0.2. Ngokusho kwe-equation (16), ukuqina kwentwasahlobo (I.e. Intambo yentwasahlobo yeqabunga ledayimane) ithi Kconst = 558.81 N/m (26)

4.1.3 Amapharamitha wentambo yentwasahlobo yeqabunga ledayimane

ngo-l = 40mm, =π, = 0.2, ubude bokuqala bentwasahlobo bungama-48mm, kanye nokuguqulwa okuphezulu (& i-gamma;= 0) ingu-16mm. Ngenxa yokulinganiselwa kwesakhiwo, kunzima entwasahlobo yeqabunga elilodwa le-rhombus ukukhiqiza ukuguqulwa okukhulu kangaka. Ukusebenzisa iziphethu ezine zamaqabunga e-rhombus ochungechungeni (n2 = 4), ukuqina kwentwasahlobo yeqabunga elilodwa le-rhombus

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

Ngokosayizi wendlela yokuqina engalungile (Umfanekiso 18), uma kubhekwa ubude bomhlanga, ububanzi kanye ne-engeli yokuthambekela komhlanga yesiphethu samaqabunga amise okwedayimane, umhlanga ungathathwa kufomula (23) kanye nefomula yokuqina (27) intwasahlobo yeqabunga elimise okwedayimane Ukuqina. Imingcele yesakhiwo se-rhombus leaf springs ibalwe kuThebula lesi-4.

phezulu4

Kafushane, amapharamitha wehinji eguquguqukayo engaqini uziro ngokusekelwe kumshini we-crank spring anqunyiwe, njengoba kukhonjisiwe kuThebula 3 kanye neThebula lesi-4.

4.2 Ukudizayina kanye nokucutshungulwa kwesampula yehinji engaqini uziro Bheka ezincwadini [8] ukuze uthole indlela yokucubungula kanye nokuhlola yehinji eguquguqukayo. Ihinge eguquguqukayo engaqini uziro yakhiwe indlela yokuqina engalungile kanye nehinge yangaphakathi nengaphandle eyihinji eguquguqukayo ngokuhambisana. Idizayini yesakhiwo ikhonjiswe kuMfanekiso 19.

Kokubili amahinji aguqukayo endandatho yangaphakathi nangaphandle kanye nezintambo zentwasahlobo ezimise okwedayimane zicutshungulwa ngamathuluzi omshini wokusika izintambo anembayo. Amahinji aguquguqukayo endandatho yangaphakathi nangaphandle ayacutshungulwa futhi ahlanganiswe abe yizingqimba. Umfanekiso 20 isithombe esibonakalayo samasethi amathathu ezintambo zentwasahlobo zamaqabunga amise okwedayimane, futhi Umfanekiso 21 uwukuqina uziro okuhlanganisiwe Isithombe esibonakalayo sesampula yehinge eguquguqukayo.

4.3 Iplathifomu yokuhlola ukuqina ejikelezayo yehinji eguquguqukayo enguziro-ukuqina Kubhekiselwa endleleni yokuhlola ukuqina okujikelezayo kokuthi [8], inkundla yokuhlola ukuqina ejikelezayo yehinge eguquguqukayo enguziro yakhiwe, njengoba kuboniswe kuMfanekiso 22.

4.4 Ukucubungula idatha yokuhlola kanye nokuhlaziywa kwamaphutha

Ukuqina okujikelezayo kwamahinji endandatho yangaphakathi nangaphandle aguquguqukayo kanye namahinge aguquguqukayo aziro-ziro kwahlolwa endaweni yokuhlola, futhi imiphumela yokuhlolwa iboniswa kuMfanekiso 23. Bala futhi udwebe ijika lekhwalithi enguziro yehinji eguquguqukayo enguziro ngokuya ngefomula (19), njengoba kuboniswe ku-Fig. 24.

Imiphumela yokuhlolwa ibonisa ukuthi ukuqina okujikelezayo kwehinge eguquguqukayo enguziro kuseduze noziro. Uma kuqhathaniswa namahinji endandatho yangaphakathi nangaphandle aguquguqukayo, ukuqina kweqanda okuguquguqukayo±0.31 rad(18°) ukuqina kwehliswe ngesilinganiso sama-93%; 0.26 rad (15°), ukuqina kwehliswa ngo-90%.

Njengoba kukhonjisiwe kuMfanekiso 23 no-24, kusekhona igebe elithile phakathi kwemiphumela yokuhlolwa yekhwalithi enguziro yokuqina kanye nemiphumela yemodeli yetiyetha (iphutha elihlobene lingaphansi kuka-15%), futhi izizathu eziyinhloko zephutha yilezi ezilandelayo.

(1) Iphutha lemodeli elidalwe ukwenziwa lula kwemisebenzi ye-trigonometric.

(2) Ukungqubuzana. Kukhona ukungqubuzana phakathi kwentambo yentwasahlobo yeqabunga ledayimane kanye ne-shaft ekhuphukayo.

(3) Iphutha lokucubungula. Kunamaphutha kusayizi wangempela womhlanga, njll.

(4) Iphutha lomhlangano. Igebe phakathi kwembobo yokufaka yochungechunge lwentwasahlobo yeqabunga elimise okwedayimane kanye ne-shaft, igebe lokufakwa kwedivayisi yenkundla yokuhlola, njll.

4.5 Ukuqhathaniswa kokusebenza nehinji evamile enguziro-ukuqina eguquguqukayo Ezincwadini [4], ihinge eguquguqukayo eyiziro-zero yakhiwa kusetshenziswa i-cross-axis flexural pivot (CAFP), njengoba kuboniswe kuMfanekiso 25.

Ukuqhathaniswa kwehinge eguquguqukayo eyiziro-ziro ZSFP_IORFP (Fig. 21) kanye ne-ZSFP_CAFP (I-Fig. 25) yakhiwe kusetshenziswa amahinji endandatho yangaphakathi nangaphandle aguquguqukayo

(1) ZSFP_IORFP, isakhiwo sihlangene kakhulu.

(2) Ibanga lekhona le-ZSFP_IORFP lincane. Ububanzi bekhona bukhawulelwe ububanzi bekhona behinji eguquguqukayo ngokwayo; Ububanzi bekhona le-ZSFP_CAFP80°, ZSFP_IORFP ibanga lekhona40°.

(3) ±18°Kububanzi bamakhona, i-ZSFP_IORFP inekhwalithi ephezulu yokuqina kweqanda. Isilinganiso sokuqina kwe-ZSFP_CAFP sehliswe ngo-87%, futhi isilinganiso sokuqina kwe-ZSFP_IORFP sehliswe ngo-93%.

5 isiphetho

Ukuthatha ihinge eguquguqukayo yamaringi angaphakathi nangaphandle ngaphansi kwetorque emsulwa njengesistimu engaphansi yokuqina, umsebenzi olandelayo wenziwe ukuze kwakhiwe ihinji eguquguqukayo engaqini uziro.

(1) Phakamisa indlela yokuzungezisa ukuqina kokuqina——Ngomshini we-crank spring, imodeli (Ifomula (6)) yasungulwa ukuze ihlaziye umthelela wamapharamitha wesakhiwo ezicini zayo zokuqina ezingezinhle, kanye nobubanzi bezimpawu zayo zokuqina ezingezinhle zanikezwa (Ithebula 1).

(2) Ngokufanisa ukuqina okuhle nokubi, izici zokuqina zentwasahlobo kumshini wentwasahlobo we-crank (Isibalo (16)) ziyatholakala, futhi imodeli (Isibalo (19)) iyasungulwa ukuze kuhlaziywe umthelela wamapharamitha wesakhiwo. yomshini we-crank spring kukhwalithi yokuqina enguziro yehinji enguziro yokuqina eguquguqukayo Umthelela, ngokombono, ngaphakathi kwe-stroke etholakalayo yehinge eguquguqukayo yamaringi angaphakathi nangaphandle (±20°), ukuncishiswa okujwayelekile kokuqina kungafinyelela ku-97%.

(3) Phakamisa ukuqina okwenziwa ngendlela oyifisayo“intwasahlobo”——Iyunithi yezinhlamvu yentwasahlobo yeqabunga emise okwedayimane yasungulwa ukuze kusungulwe imodeli yayo yokuqina (Isibalo (23)) futhi yaqinisekiswa ngendlela yesici esilinganiselwe.

(4) Iqedele ukuklama, ukucutshungulwa kanye nokuhlolwa kwesampula yehinji ethambile enguziro-ukuqina. Imiphumela yokuhlolwa ikhombisa ukuthi: ngaphansi kwesenzo setorque emsulwa, i36°Ebangeni lama-engeli azungezayo, uma kuqhathaniswa namahinji endandatho yangaphakathi nangaphandle aguquguqukayo, ukuqina kwehinji eguquguqukayo enguziro kuncipha ngo-93% ngokwesilinganiso.

Ihinge eyakhelwe ukuqina enguziro eguquguqukayo ingaphansi kwesenzo setorque emsulwa, engabona“ukuqina kwe-zero”, ngaphandle kokucabangela icala lokuthwala izimo zokulayisha eziyinkimbinkimbi. Ngakho-ke, ukwakhiwa kwamahinge aguquguqukayo angaqini uziro ngaphansi kwezimo eziyinkimbinkimbi zomthwalo kuwukugxila kocwaningo olwengeziwe. Ngaphezu kwalokho, ukwehlisa ukungqubuzana okukhona phakathi nokunyakaza kwamahinge aguquguqukayo angaqini uziro kuyisiqondiso esibalulekile sokuthuthukisa amahinji aguquguqukayo angaqini uziro.

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Mayelana nombhali: u-Bi Shusheng (umbhali ohambisana naye), owesilisa, owazalwa ngo-1966, udokotela, uprofesa, umphathi wobudokotela. Isiqondiso sakhe esiyinhloko socwaningo yindlela eguquguqukayo ngokugcwele kanye nerobhothi ye-bionic.