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一种具有六个自由度的弯曲梁柔顺机构的设计与建模

Design and Modeling of a Curved Beam Compliant Mechanism with Six Degrees of Freedom.

作者信息

Lin Sheng, Wang Jiacheng, Xiong Wenkang, Hu Qingyuan, Liu Hui, Wang Qi

机构信息

School of Mechanical Engineering, Dalian Jiaotong University, Dalian 116028, China.

School of Science, Jiangnan University, Wuxi 214122, China.

出版信息

Micromachines (Basel). 2022 Jan 28;13(2):208. doi: 10.3390/mi13020208.

DOI:10.3390/mi13020208
PMID:35208331
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8880036/
Abstract

Compliant mechanisms are widely used in cutting-edge scientific and technological fields such as precision engineering, micro-/nano-manipulation, or microelectronics. Hence, the demand for multi-degree-of-freedom compliant mechanisms has increased sharply. The structure of compliant mechanisms becomes increasingly complex with the increase of degrees of freedom. Here, a compliant mechanism with six degrees of freedom is proposed based on curved beams. The compliant mechanism has the advantages of simple structure and multi-degree-of-freedom. Using the isogeometric analysis method, a model of the mechanism is constructed. Static analysis show that six degrees of freedom can be generated. The prototype of the mechanism is developed by 3D printing. A loading test in six degrees of freedom is carried out. The output and input have high linear relations and the structure has low inter-directional coupling. We trust that this study provides a pioneering step towards the design of compliant mechanisms based on curved beam elements.

摘要

柔顺机构广泛应用于精密工程、微纳操纵或微电子等前沿科技领域。因此，对多自由度柔顺机构的需求急剧增加。随着自由度的增加，柔顺机构的结构变得越来越复杂。在此，基于曲梁提出了一种六自由度柔顺机构。该柔顺机构具有结构简单和多自由度的优点。采用等几何分析方法，构建了该机构的模型。静态分析表明，可以产生六个自由度。通过3D打印制作了该机构的原型。进行了六自由度加载试验。输出与输入具有高度的线性关系，且结构具有低的交叉耦合。我们相信这项研究为基于曲梁单元的柔顺机构设计迈出了开创性的一步。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/28ad18b436eb/micromachines-13-00208-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/b842ccc05fce/micromachines-13-00208-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/b0408f555a5b/micromachines-13-00208-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/eb0de400d945/micromachines-13-00208-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/b4a757311bfa/micromachines-13-00208-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/c9118fe6b736/micromachines-13-00208-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/afe5409b78e4/micromachines-13-00208-g006a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/3e03d8d4c3a1/micromachines-13-00208-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/1fa8cee8525f/micromachines-13-00208-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/d8cdb25ae965/micromachines-13-00208-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/ced4ac5d772b/micromachines-13-00208-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/469fa44936ef/micromachines-13-00208-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/28ad18b436eb/micromachines-13-00208-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/b842ccc05fce/micromachines-13-00208-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/b0408f555a5b/micromachines-13-00208-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/eb0de400d945/micromachines-13-00208-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/b4a757311bfa/micromachines-13-00208-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/c9118fe6b736/micromachines-13-00208-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/afe5409b78e4/micromachines-13-00208-g006a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/3e03d8d4c3a1/micromachines-13-00208-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/1fa8cee8525f/micromachines-13-00208-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/d8cdb25ae965/micromachines-13-00208-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/ced4ac5d772b/micromachines-13-00208-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/469fa44936ef/micromachines-13-00208-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/96e8/8880036/28ad18b436eb/micromachines-13-00208-g012.jpg

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