柔性机构的结构拓扑特征及其自由度分析

柔性机构是利用组成元素间的相对柔性来获得运动或力的一类机构。通过分析柔性机构的结构特点 ,本文提出了一个新的拓扑图来表示柔性运动链的结构拓扑特征 ,并给出了相应的矩阵表示 ,借助该矩阵中的信息 ,可以方便地对柔性机构进行自由度分析。并且指出柔性机构是一种变自由度机构 ,其自由度的数目与机构所受外力 (矩 )的大小和方位有关。

Analysis of the Structural Topological Characteristics and the Mobility of Compliant Mechanisms

Compliant mechanisms can be defined as mechanisms that achieve a force or motion transformation due to the relative flexibility of their members. A completely new topological graph is proposed to describe the topological relationships between members in the compliant kinematic chains, and the corresponding matrix representation is presented. According to the information existed in the matrix, the analysis of the mobility of compliant mechanisms can be easily done. The fact is pointed out that compliant mechanisms are mechanisms with changeable degree of freedom, the value of the degrees of freedom for a compliant mechanism is dependent on the location, direction, and magnitude of the applied forces.