| Citation: | ZHENG Yangyang, GONG Jinliang, ZHANG Yanfeiet al. Stiffness analysis of a flexible lever magnifying mechanism based on transfer matrix method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(4): 849-856. doi: 10.13700/j.bh.1001-5965.2016.0245(in Chinese)
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Stiffness is an important performance index for the dynamic performance and positioning precision of compliant micromanipulator. Concept of transfer matrix in engineering was applied to the stiffness analysis here. First, according to its structure characteristics, the compliant micromanipulator was modularized and each unit was treated as flexible body. Taking axial, shear and bending deformation into consideration, we solved transfer matrix of the subunit. Then each unit was assembled through the transfer matrix. Finally, relational model between input force and output displacement of compliant micromanipulator was established according to the force balance. The research result indicates that because multi-dimensional real deformation of each unit was taken into consideration, high-precision result was guaranteed. At the same time, the deformation compatibility equations between flexible and rigid units did not need to be solved during the analysis, and conversion of compliant micromanipulator global coordinate system was avoided. The analysis and computation time was also reduced. A kind of flexible lever magnifying mechanism stiffness model was established with this method. The error is less than 6.4% compared with the result of finite element analysis. The accuracy of analysis is improved effectively, and important theoretical basis is provided for parameter design.
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