分布柔度式大行程空间柔顺机构的运动静力学建模方法研究

Distributed-compliance spatial compliant mechanisms have many potential applications in the fields such as aerospace and medical rehabilitation because they are simple in structure and light in weight, undergo lower stress during working thus possessing longer fatigue life, are capable of accomplishing complex tasks and outputting large range of motion and can completely avoid jamming. However, it is difficult to accurately model and design distributed-compliance spatial compliant mechanisms because of the lack of an effective method for modeling large spatial deflections of flexible beams. This situation has seriously impedes the development of this kind of compliant mechanisms. This proposal is going to develop methods for modeling large spatial deflections of flexible beams by resolving the four nonlinear effects inherent in large spatial deflections at different scales. Based on the developed methods, a pseudo-rigid-body model will be established to approximate the kinetostatics of spatial beams. Then the research on the kinetostatic modeling and design methodology of distributed-compliance spatial compliant mechanisms will be conducted using both load-deflection and strain-energy modeling approaches. Finally, a few distributed-compliance spatial compliant mechanisms exhibiting multistable and constant-force behaviors will be developed. ..The achievements of this proposal will promote the extension of compliant mechanisms from planar configurations to spatial configurations and provide guidance to the creative designs and engineering applications of this kind of compliant mechanisms.

分布柔度式空间柔顺机构具有结构简单、重量轻、工作应力小、疲劳寿命长、能完成较复杂功能、运动范围大且无卡死现象等特点，因此在航空航天、医疗康复等领域有着广泛的应用前景。由于缺乏行之有效的空间梁大挠度变形的建模方法，研究人员对分布柔度式柔顺机构的准确建模与设计显得束手无策，从而严重制约了这一方向的发展。本申请拟将空间梁大挠度变形中的4种非线性因素分解到不同尺度上加以解决，从而突破空间大挠度变形计算这一关键问题，进而研究空间大挠度变形的伪刚体模型近似建模，并运用载荷-位移法和应变能法系统地开展分布柔度式大行程柔顺机构的运动静力学建模与求解方法研究，最后基于上述理论成果设计出数款具有多稳态和恒力特性的分布柔度式空间柔顺机构。..本项目的研究成果对于推动柔顺机构从平面走向空间、指导此类柔顺机构的创新设计及工程应用有积极意义。

分布柔度式空间柔顺机构具有结构简单、重量轻、工作应力小、疲劳寿命长、能完成较复杂功能、运动范围大且无卡死现象等特点，因此在航空航天、医疗康复等领域有着广泛的应用前景。由于缺乏行之有效的空间梁大挠度变形的建模方法，研究人员对分布柔度式柔顺机构的准确建模与设计显得束手无策，从而严重制约了这一方向的发展。本项目首先针对中小变形空间梁的非线性建模入手，进而提出链式梁约束模型，通过将空间梁大挠度变形中的多种非线性因素分解到不同尺度上加以解决，突破了空间大挠度变形计算这一关键问题，并运用载荷-位移法和应变能法系统地开展分布柔度式大行程柔顺机构的运动静力学建模与求解方法研究。通过本项目的研究，为分布柔度式空间柔顺机构的精确建模形成了系统的建模方法，为此类柔顺机构的设计与优化奠定了坚实的理论基础，基于上述理论成果设计出了数款具有多稳态和恒力特性的新型柔顺机构。发表SCI检索论文14篇，其中ASME Trans. 7篇，Mechanism and Machine Theory 3篇，获得中国发明专利10项。获ASME柔顺机构学奖，教育部自然科学二等奖和陕西省科学技术二等奖各1项。本项目的研究成果对于推动柔顺机构从平面走向空间、指导此类柔顺机构的创新设计及工程应用具有积极意义。通过该项目的研究，进一步深化和拓展了我们在柔顺机构领域的研究。