摘要
把初始弯曲柔性梁考虑成末端加载一定力矩Mi的直梁,根据Bernoulli-Euler方程等从理论上推导出初始弯曲柔性梁末端轨迹和转角。结合实例给出理论计算结果,并和ANSYS软件仿真的结果进行对比,来验证理论模型的正确性。其次,基于末端受力矩载荷直梁的1R伪刚体模型,首次推导了末端受力矩的初始弯曲柔性梁的1R伪刚体模型,并和理论结果进行对比,来验证该模型的可行性。最后,针对该模型的不足,建立了1R伪刚体模型修正模型,并与理论结果等进行对比,验证其可行性,为研究含有初始弯曲柔性梁的柔顺机构打下基础。
The initially curved flexible beam is considered as a straight beam with the free end loaded a moment Mi,and the theoretical trajectory and corner of the initially curved flexible beam′s end are derived according to the Bernoulli-Euler equation.The theoretical results are given with example,and are compared with ANSYS simulation to verify the effectiveness of the theory.Secondly,based on the1R pseudo-rigid-body model(PRBM)of the straight beam subjected to the moment,the 1R PRBM of the initially curved flexible beam subjected to the moment is firstly developed and is compared with the theoretical results to verify its effectiveness.Finally,aiming at the deficiency of the PRBM model,the modified model of the 1R PRBM of initial curved flexible beam subjected to moment is put forward and compared with the theoretical results and the 1R PRBM model to verify its effectiveness,which lays the foundation for studying the compliant mechanism with the initially curved flexible beam.
作者
李渊
杜秋月
Li Yuan;Du Qiuyue(School of Mechanical and Electrical Engineering,Datong University,Datong 037003,China;Beijing Technology and Business University,Beijing 100048,China)
出处
《机械传动》
CSCD
北大核心
2018年第10期35-39,45,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(51805009)
关键词
初始弯曲柔性梁
伪刚体模型
轨迹
Initially curved flexible beam
Pseudo-rigid-body model(PRBM)
Trajectory
