平面柔性机构的结构型式及其自由度分析

摘要

平面柔性机构自由度的分析可为选择其驱动器提供依据,平面柔性机构由刚性构件、刚性运动副、柔性构件、柔性铰链四个元素组成,不同元素的不同组合得到不同的柔性机构型式,理论上共计15类,工程应用型计11类,在分析单一柔性构件自由度及其影响因素的基础上,基于“伪刚性机构”的思想,提出了两个及两个以上元素组成柔性机构的自由度计算原则,并根据此计算原则对11类工程应用性的平面柔性机构给出了实例机构的自由度计算.%The analysis of degree-of-freedom about planar flexible mechanism is foundation of se-lee ting actuator.The planar flexible mechanism is composed of four elements: rigid member,rigid pair,compliant member and flexible hinge.Different combination of different elements can become fifteen typesof flexible mechanisms in theory and eleven types in engineering applicabilityAfter analyzing on degree-of-freedom of unit flexible members and influential factor,a calculating principle for Degree-of -freedom offlexible mechanism composed of two or two more elements is giveruBased on the Pseudo-gid-body,and ex-perimental analysis of eleven types compliant mechanisms are presented to illustrate the conclusion.