多节串联直角切口弹性铰链的屈曲分析

依据材料力学能量原理中的瑞利-里兹法,建立计算多节串联直角切口弹性铰链屈曲临界载荷的数学模型,并推导屈曲临界载荷的计算公式。采用商用有限元软件Abaqus6.6对不同参数的铰链模型进行有限元屈曲分析,有限元分析结果与数学模型计算的屈曲临界载荷很接近,说明所建数学模型的正确性。     

基于曲线柔性单元的新型大变形柔性铰链

曲线薄板柔性单元与传统的缺口式柔性单元相比,受载荷时在功能方向上更容易产生大变形.基于此,将曲线薄板柔性单元在平面空间中以一点为圆心,进行均匀阵列组合得到一种新型的环形柔性铰链--分布式叶片形转动柔性铰链.为了对新型柔性铰链进行性能分析,建立铰链的数学模型.鉴于铰链结构复杂,要得到精确模型十分困难,因此对模型进行简化,采用主运动单元伪刚体法建立新型柔性铰链数学模型,并分析新型柔性铰链受纯扭矩载荷时的变形情况.计算得到的结果与非线性有限元分析结果十分接近,证明了所建伪刚体模型的正确性.同时计算结果也表明分布式叶片形转动柔性铰链能够提供较大的转动行程,是一种新型的大变性转动柔性铰链.     

曲梁三角形柔性铰链力学建模与分析

直簧片柔性铰链研究结果表明,簧片的约束行为对柔性铰链的刚度和精度特性具有本质影响,而具有放松约束行为的弯曲簧片一直缺乏系统研究,其非功能方向的约束特性具有重要研究价值.尤其对于曲梁三角形柔性铰链,建立直观的力学模型,对于放松约束行为的曲梁柔性铰链拓扑研究具有重要意义.基于Awtar曲梁模型公式,在普遍受力状态下,建立基于曲梁的三角形柔性铰链转角数学模型,并推导出轴漂数学模型,理论分析与有限元分析结果精确吻合,说明数学模型的正确性,同时,计算结果表明,曲梁柔性铰链约束行为具有较多变化,为新型柔性铰链的设计提供了新的思路.     

倒圆角直梁型柔性铰链刚度研究

为研究倒圆角直梁型柔性铰链的刚度性能,利用材料力学和微积分的相关知识推导出该型柔性铰链的弯曲刚度和拉伸或压缩刚度计算公式。采用变截面梁单元建立该型柔性铰链的有限元模型,在一端固定、另一端承受力矩或力的边界条件下,计算分析该型柔性铰链的刚度。将有限元解与所推导出的解析解进行比较,以验证所推导刚度公式的正确性。改变倒圆角直梁型柔性铰链的各结构参数,根据所推导出的刚度公式,利用Matlab软件编程计算出刚度值,并分析倒圆角直梁型柔性铰链的弯曲刚度与其各结构参数之间的关系。     

新型双曲线直梁复合型柔性铰链刚度研究

提出一种新型双曲线直梁复合型柔性铰链,以卡氏第二定理和微积分的相关知识为基础,推导双曲线直梁复合型柔性铰链的弯曲刚度和拉伸或压缩刚度计算公式。采用变截面梁单元建立该型柔性铰链的有限元模型,在一端固定、另一端承受力矩或力的边界条件下,计算分析该型柔性铰链的刚度。将有限元解与所推导出的解析解进行比较,以验证所推导刚度公式的正确性。分析双曲线直梁复合型柔性铰链的结构参数对其刚度性能的影响,并与倒圆角直梁型柔性铰链进行比较,结果表明双曲线直梁复合型柔性铰链的转动能力、对载荷的敏感性均次于倒圆角直梁型柔性铰链。     

椭圆直梁复合型柔性铰链的刚度分析

提出了一种新型椭圆直梁复合型柔性铰链,以小变形悬臂梁和微积分的相关知识为基础,推导了其弯曲刚度和拉伸/压缩刚度计算公式。采用变截面梁单元建立该型柔性铰链的有限元模型,在一端固定、另一端承受力矩或力的边界条件下,计算分析该型柔性铰链的刚度;将有限元解与所推导出的解析解进行比较,以验证所推导刚度公式的正确性。分析椭圆直梁复合型柔性铰链的结构参数对其刚度性能的影响,并与倒圆角直梁型柔性铰链进行比较,结果表明椭圆直梁复合型柔性铰链的转动能力、对载荷的敏感性均优于倒圆角直梁型柔性铰链。     

摆线柔性铰链的设计计算与性能分析

提出了一类基于摆线方程切口的新型柔性铰链。利用变截面梁弯曲理论推导其转动刚度数学模型,根据微元法下的胡克定律叠加原理推导其拉伸刚度的数学模型,通过有限元验证了计算公式的正确性,讨论了结构参数对转动刚度的影响关系和显著程度,比较了新型柔性铰链与传统柔性铰链的性能。分析表明转动刚度与弹性模量、宽度和最小厚度成正比,而与拱高参数成反比,且对最小厚度的变化最敏感,新型柔性铰链的柔度仅次于椭圆型,相较于圆弧型和抛物线型柔铰对载荷的敏感程度平均提高了10%和30%以上,新型摆线柔铰为柔性铰链的设计选型提供了新思路。     

圆弧型柔性铰链应力分析

针对柔性铰链在风洞应变天平校准设备中的应用,将圆弧型柔性铰链作为研究对象,计算其最大应力。通过分析典型柔性铰链的受力情况,提出了将圆弧型柔性铰链等效为直圆型柔性铰链的方法。基于应力集中理论,拟合出了铰链分别受轴向力和弯矩时的应力集中系数计算公式。建立不同参数铰链的三维模型,使用ANSYS Wrokbench软件进行有限元仿真分析,将仿真数据和理论计算数据进行对比,验证等效方法和拟合公式的可行性。     

片状精密柔性铰链的转动刚度测量

为了解决薄片类复杂结构柔性铰链转动刚度精密测量问题,研究了一种基于力传感器和自准直仪的测量方法。采用ANSYS有限元软件对六种不同厚度的柔性铰链进行数值分析,并搭建试验系统进行实际测量。结果表明,计算结果与测量结果基本吻合,多次重复测量的最大标准差为1. 6480(N·m/rad)。该方法一致性好、测量效率高,为薄片精密机械零件转动刚度测量与验收提供了一种有效方法。     

倒圆角直梁型柔性铰链应力分析

为研究倒圆角直梁型柔性铰链的内部应力,利用材料力学的相关知识推导出该型柔性铰链的弯曲正应力和拉/压应力计算公式。采用变截面梁单元建立该型柔性铰链的有限元模型,在一端固定,另一端承受力矩或力的边界条件下,计算分析该型柔性铰链的应力;将有限元解与所推导出的解析解进行比较,验证所推导应力计算公式的正确性。根据所推导出的应力公式,讨论倒圆角直梁型柔性铰链的内部应力与其各结构参数之间的关系。     

Parametric studies on buckling loads and critical speeds of microdrill bits

Transverse bending vibrations of the spinning microdrill bit subjected to a compressive axial load are developed based on the Timoshenko beam theory. The system equations of motion are discretized into the form of time-dependent ordinary differential equations by the finite element method. Two types of eigenvalue problems are formulated and utilized to study the effects of the drill helix angle, flute length and diameter on the buckling load and critical speed of microdrill bits with different supported ends. Equivalent formulae similar to those of untwisted Euler beams are established to predict critical buckling loads and critical speeds for microdrills and provide results with sufficient accuracy. The effect of rotational speed on the buckling load, and the influence of thrust force on critical speed are also investigated. A Galef-type equation associated with critical speed, thrust force and buckling load is formulated.     

局部加强体对预压双稳态结构跳转力学特征的影响分析

基于轴向挤压后屈曲模态的双稳态结构,其跳转力、保持力和跳转行程等双稳态特征与预应力分布和后屈曲模态密切相关,使得难以通过仅调整预压缩量来实现特定双稳态指标的设计。本文提出引入局部加强体调控预压双稳态梁临界屈曲载荷、应力分布及跳转特征的方法,建立了具有对称局部加强体的预压双稳态梁跳转分析模型,分析了预应力、加强体尺寸参数和位置对屈曲临界载荷、跳转力和行程的影响规律。结果表明:局部加强体不影响原结构跳转力和保持力相等的特征;与尺寸参数相比加强体位置参数对跳转力有较大影响,随着位置的变化,跳转力存在由大变小再变大的变化过程,且调控同行程双稳态梁跳转力的幅度可达17.04%;跳转行程主要依赖于局部加强体的刚度和所承受的预应力。     

六自由度平台动力学前馈柔顺控制研究

与串联机器人相比,六自由度平台具有刚度高、承载能力大等优点,更适合于大型工件的装配。当机器人处于对接和装配状态时,机器人末端受到来自外部环境的力和力矩作用,对机器人的柔顺控制是执行任务的基础。提出了一种基于摩擦补偿的动力学前馈柔顺控制方法,首先建立Stewart平台的动力学模型,利用库仑摩擦模型和黏性摩擦模型对伺服电动缸的摩擦力进行估计,推导出包含摩擦力矩的运动学模型。设计了一种动力学前馈柔顺控制方法,无需在关节末端安装力传感器,平台受到外力时会顺应外力作用移动。最后实验结果表明,所提出的方法是一种经济、有效、可靠的方法,可以实现六自由度平台的柔顺控制。     

液压往复密封的摩擦特性分析

基于往复式密封的弹性流体动力润滑的数学模型,对影响密封性能的因素进行了综合分析。综合考虑了形变理论、接触力学理论以及流体-固体耦合理论,采用MATLAB数值分析法,通过数学迭代计算完成最终求解。深入研究了润滑油黏度、界面摩擦系数以及密封圈的表面粗糙度对密封性能的综合影响。结果表明:随着耦合界面摩擦系数的增加,接触摩擦力都呈现出增大的趋势;总摩擦力随着粗糙度的增加呈现出抛物线式变化趋势;润滑油的黏度存在一个临界值,当润滑油黏度小于此临界值时,随着润滑油黏度的增加,总摩擦力先增加后降低;当润滑油黏度超过此临界值时,接触摩擦力呈现出单调增加的趋势;润滑油黏度和界面粗糙度的增加会导致流体泄漏的增大。     

Analytical Compliance Modeling of Serial Flexure-Based Compliant Mechanism Under Arbitrary Applied Load

Analytical compliance model is vital to the flexure- based compliant mechanism in its mechanical design and motion control. The matrix is a common and effective approach in the compliance modeling while it is not well developed for the closed-loop serial and parallel compliant mechanisms and is not applicable to the situation when the external loads are applied on the flexure members. Concise and explicit analytical compliance models of the serial flexure-based compliant mechanisms under arbitrary loads are derived by using the matrix method. An equivalent method is proposed to deal with the situation when the external loads are applied on the flexure members. The external loads are transformed to concentrated forces applied on the rigid links, which satisfy the equations of static equilibrium and also guarantee that the deformations at the displacement output point remain unchanged. Then the matrix method can be still adopted for the compliance analysis of the compliant mechanism. Finally, several specific examples and an experimental test are given to verify the effectiveness of the compliance models and the force equivalent method. The research enriches the matrix method and provides concise analytical compliance models for the serial compliant mechanism.     

基于THK-SHS35V型号的滚动直线导轨副预紧力精确计算方法研究

针对目前只能通过滚动体过盈量粗略判定滚动直线导轨副预压等级(轻、中、重)的现状,首先基于Hertz接触理论建立了载荷和预紧拖动力关系模型,然后创新性构建了一种载荷和预紧拖动力同步在线测量系统,测量了不同载荷、运动速度下THK-SHS35V型号的滚动直线导轨副的动态摩擦因数,进而得到其Stribeck曲线。将摩擦因数与载荷-预紧拖动力关系模型相结合,最终建立了一种滚动直线导轨副预紧力精确计算模型。试验结果表明,所建立的预紧力计算模型能有效预测被测样件的预紧力,其最大相对误差为18.91%。提出利用Stribeck曲线得到动态摩擦因数经验公式建立预紧力计算模型的方法,可进一步扩展应用于其他型号的滚动直线导轨副。     

Critical Load Analysis for a Layered Half-Space under Sliding Indentation

Analyses are presented for cracking or delaminating problems of thin coatings on dissimilar thick substrate materials under a normal and a tangential force. Based on the energy principle associated with the consideration of substrate deformation, an analytical expression has been proposed to predict the critical load of an adherent stiff thin coating on a compliant substrate. The critical load has been shown to depend on the hardness, the coating thickness, the surface energy of adhesion, the coefficient of friction, contact areas of a scratch track, and elastic moduli of coatings and substrates. Experimental observations of microscratch testing on a CrN coating deposited on a soft coating, labeled as SC-I, over a Cu/Zn alloy substrate have shown that buckling and cracking in a semicircular arc ahead of an indenter are the predominant failure modes, thereby confirming the assumption of the theoretical calculation. Using Beuth's solution, a simple fracture model describing the cracking of thin coatings has been developed over a range of practical elastic mismatches and applied to solve cracking problems of compliant coatings in this work. Microscratch results from another soft coating, labeled as SC-II, on a Cu/Zn alloy substrate have revealed that cracks first occur along the edge of the circular contact area in the rear of the indenter due to the tensile stress. The stress formulae of Hamilton and Bower and Fleck are therefore introduced into this model to compute the critical load required to initiate a crack in the coating and the stress intensity factor of the coating.

     

Constraint-force-based approach of modelling compliant mechanisms: Principle and application

Numerous works have been conducted on modelling basic compliant elements such as wire beams, and closed-form analytical models of most basic compliant elements have been well developed. However, the modelling of complex compliant mechanisms is still a challenging work. This paper proposes a constraint-force-based (CFB) modelling approach to model compliant mechanisms with a particular emphasis on modelling complex compliant mechanisms. The proposed CFB modelling approach can be regarded as an improved free-body- diagram (FBD) based modelling approach, and can be extended to a development of the screw-theory-based design approach. A compliant mechanism can be decomposed into rigid stages and compliant modules. A compliant module can offer elastic forces due to its deformation. Such elastic forces are regarded as variable constraint forces in the CFB modelling approach. Additionally, the CFB modelling approach defines external forces applied on a compliant mechanism as constant constraint forces. If a compliant mechanism is at static equilibrium, all the rigid stages are also at static equilibrium under the influence of the variable and constant constraint forces. Therefore, the constraint force equilibrium equations for all the rigid stages can be obtained, and the analytical model of the compliant mechanism can be derived based on the constraint force equilibrium equations. The CFB modelling approach can model a compliant mechanism linearly and nonlinearly, can obtain displacements of any points of the rigid stages, and allows external forces to be exerted on any positions of the rigid stages. Compared with the FBD based modelling approach, the CFB modelling approach does not need to identify the possible deformed configuration of a complex compliant mechanism to obtain the geometric compatibility conditions and the force equilibrium equations. Additionally, the mathematical expressions in the CFB approach have an easily understood physical meaning. Using the CFB modelling approach, the variable constraint forces of three compliant modules, a wire beam, a four-beam compliant module and an eight-beam compliant module, have been derived in this paper. Based on these variable constraint forces, the linear and non-linear models of a decoupled XYZ compliant parallel mechanism are derived, and verified by FEA simulations and experimental tests.     

多元变参数振动钻削复合材料的研究

根据复合材料力学和线弹性断裂力学，假设钻削轴向力为一集中作用载荷，从而构造了正交纤维束增强复合材料的钻削分层临界力的数学模型，仿真结果表明，随着待钻削深度的减小，分层临界力急剧降低。基于这一特点，提出了多元变参数振动钻削纤维增强复合材料的新思路，并进行了实验验证。