| Author Name | Affiliation | Postcode | | Peibo Li | School of Mechanical Engineering | 201620 | | Jihao Liu | State Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China | 200240 | | Tianzi Zhao | State Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China | | | Helei Zhu | College of Mechanical and Electrical Engineering, Jiaxing University, Jiaxing 314001, Zhejiang, China | | | Yanzheng Zhao* | State Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China | 200240 |
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| Abstract: |
| For a flexible mechanism with several-stage flexible linkage, the flexible linkage is equivalent to work under the actions of an external load and motion constrains. This paper aims to deal with a simplified elastic model on the kinematic characteristics of a flexure-based linkage under these conditions. The elastic modeling method was developed based on motion constrains and the elastic beam theorem (EBT). Effects of a constant force, an elastic force with a constant stiffness, and the materials were taken into account. The proposed modeling method was verified by comparing with the finite element method (FEM). Further, the developed modeling method was used to optimize a flexure-based mechanism based on a two-stage flexible linkage to realize a maximum displacement amplification ratio of 6.56. The flexure-based mechanism was employed to drive a miniature sucker, which performed with a negative pressure of 2.45 kPa at a frequency of 13.2 kHz. |
| Key words: elastic model bridge-type mechanism kinematic characteristics |
| DOI：10.11916/j.issn.1005-9113.19058 |
| Clc Number:TH12 |
| Fund: |
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| Descriptions in Chinese: |
| 文章建立了一种适用于运动约束的柔性连杆的简化弹性模型，用于优化驱动仿生吸盘的柔性机构。弾性模型是基于运动约束与弹性梁模型建立，可用于分析桥式机构的位移放大比、驱动力以及传动效率。并且，弹性模型中考虑到了定常负载与弹性负载对柔性机构的影响。通过比较弹性模型与有限元仿真，验证提出了所提出的弹性建模方法。进一步，利用弹性模型优化 |
