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Volume 28 Issue 3
Mar.  2002
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Journal of Beijing University of Aeronautics and Astronautics  > 2002  >  28(3): 323-326.
Xiang Kaiheng, Xiao Yelun. Study of System Simulation of Satellite Constellation[J]. Journal of Beijing University of Aeronautics and Astronautics, 1999, 25(6): 629-632. (in Chinese)
Citation: YU Jing-jun, BI Shu-sheng, ZONG Guang-huaet al. Stiffness Matrix Method for Displacement Analysis of Fully Spatial Compliant Mechanisms[J]. Journal of Beijing University of Aeronautics and Astronautics, 2002, 28(3): 323-326. (in Chinese)
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Stiffness Matrix Method for Displacement Analysis of Fully Spatial Compliant Mechanisms

  • Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation

  • Received Date: 08 Oct 2000
  • Publish Date: 31 Mar 2002
    Abstract
  • Because of spherical joints existed in some spatial mechanisms, the pseudo-rigid-body model method extensively used in the analysis and design of a compliant mechanism with only revolute flexure joints was very limited in analyzing its kinematics. An expanded pseudo-rigid-body model method named as stiffness matrix method was presented to conduct the displacement analysis of fully spatial compliant mechanisms. Take a 6 RSS mechanism for instance, the stiffness matrix of the general flexure hinge was established by using the displacement matrix method in structural analysis. Through the transformations of a series of coordinate systems, force balance equations of nodes and end effector of the mechanism, deformation cooperation equations and close loop displacement equations of the mechanism were derived. On the above basis, displacement analysis of the mechanism was conducted with the stiffness matrix method, giving a relatively higher accurate solution by considering elastic deformation of all the mechanical members.

     

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  • [1]Midha A, Norton T W, Howell L L. On the nomenclature, classification, and abstractions of compliant mechanisms[J]. Transactions of the ASME, Journal of Mechanical Design,1994, 116(1):270~279. [2]Paros J M, Weisbord L. How to design flexure hinges[J]. Machine Design, 1965, 37(27):151~156. [3]Her I, Chang J C. A linear scheme for the displacement analysis of micropositioning stages with flexure hinges[J]. Transactions of the ASME, Journal of Mechanical Design,1994, 116(3):770~776. [4]Howell L L, Midha A. A method for the design of compliant mechanisms with small-length flexural pivots[J]. Transactions of the ASME, Journal of Mechanical Design, 1994, 116(1):280~290. [5]安 辉. 压电陶瓷驱动六自由度并联微动机器人的研究 . 哈尔滨:哈尔滨工业大学机电控制及自动化学院, 1995. [6]杜铁军.机器人误差补偿器研究 . 秦皇岛:燕山大学机械工程学院, 1994.
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