摘要
提出一种由气缸驱动的柔性机械手关节,关节采用板弹簧作为骨架。板弹簧的变形等效于自由端受特殊变载荷作用的弹性悬臂梁的大变形,其特殊变载荷是一个方向和大小都随气缸压力而变化的载荷。建立了悬臂梁静态变形的微分方程,采用简单的微分计算方法得出不同气缸压力下板弹簧任意位置的变形倾角、变形位移及应力的数值解。绘制其变形曲线和应力曲线,分析板弹簧的变形和应力分布情况,并校核了板弹簧最大应力处的强度。
This paper presented a flexible manipulator joint driven by air cylinder, using plate spring as the frame- work. The deformation of the plate spring was equivalent to the large deformation of a elastic cantilever beam acted on cantilevered end by special varying load, whose magnitude and direction varied with the cylinder pressure. Stat- ic model of the cantilever beam bend was built and its differential equation was given. Numerical solutions to plate spring＇s flexion angle, deformation displacement and stress under various pressures were calculated by solving the differential equation. Moreover, the deformation curve and stress curve were drawn, and the distribution of them was analyzed. The maximum stress was got and checked.
出处
《机械科学与技术》
CSCD
北大核心
2013年第1期111-115,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
"中央高校基本科研业务费专项资金"项目(JUSRP21008)资助
关键词
悬臂梁
大变形
变载荷
强度
cantilever beam
large deformation
varying load
strength
