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刚度作为设计和评价全柔性机构的一个重要指标,在很大程度上影响着全柔性机构的动态性能和定位精度。利用材料力学中的单元刚度矩阵原理,根据柔性机构的结构特点进行单元划分。然后全面考虑机构中各单元的复杂变形,建立单元间的位移、力平衡方程,得到便于进行递推运算的刚度表达形式。以一种二维微动平台为例,给出了应用该方法的刚度分析过程,结果表明理论计算接近有限元分析数据。
Stiffness, as an important indicator of design and evaluation of fully compliant mechanisms, greatly affects the dynamic performance and positioning accuracy of all-flexible mechanisms. Based on the principle of element stiffness matrix in material mechanics, the elements are divided according to the structural characteristics of flexible mechanism. Then, the complex deformation of each unit in the mechanism is fully considered, and the displacement and force balance equations between the units are established to obtain the stiffness expression that is convenient for the recursion calculation. Taking a kind of two-dimensional fretting platform as an example, the stiffness analysis process using this method is given. The results show that the theoretical calculation is close to the finite element analysis data.