Geometric Modeling And Design Theory Of Reconfigurable Compliant Mechanism

Due to the deformation of the flexible components in the compliant mechanism,the compliant mechanism could transfer motion and force.So compared with the rigid mechanism,compliant mechanisms have many great advantages.Such as,it can reduce the time of assembly,gap and friction which happen between assemblies.The research of compliant mechanism is of great significance to enrich its application.In this paper,the mathematical model of compliant reconfigurable mechanism is established and the compliance of the structure is analyzed and studied.The design theory and method of compliant reconfigurable mechanism is proposed,which is of great significance for the design of compliant mechanism under certain conditions.It includes: the establishment of the mathematical model of compliant mechanism,the study of the compliant mechanism,the design method of the reconfigurable structure of the compliant mechanism,etc.Firstly,the classical beam theory is chosen as the physical model of the compliant mechanism.Then the stiffness matrix of the compliant mechanism is established,its extension method is studied,too.Therefore,the different structural forms of compliant mechanism can be obtained by the combination of the method.The compliant matrix can be obtained through the stiffness matrix of the compliant mechanism.The compliant characteristic parameters are extracted from the compliant matrix to characterize the compliance of the structure.Secondly,the foundation compliant mechanism is constructed,which includes straight beam,curved beam,the series and the parallel of them.Then their compliance characteristics are analyzed.Then the influence of their structural parameters on their compliance characteristics is discussed.According to the obtained curve and the cloud chart,the rule is summarized,and the experience of the design of compliant mechanism is accumulated.Thirdly,the modeling strategy is proposed based on the study of the compliant characteristics of compliant mechanisms.According to the different applications,the matching method,the transformation method,the target decomposition method and the two point comprehensive design are proposed.And the theoretical derivation and analysis steps are listed in detail for each method.Finally,in order to solve the design problem of a given compliant mechanism design problem,the design of reconfigurable mechanism is carried out by using the proposed design method of compliant mechanisms.According to the specific design examples,the corresponding compliant mechanism is designed.Multiple design schemes are proposed for the design of the reconfigurable region of the compliant mechanism.The design schemes are verified until the finite element modeling and analysis are done to them.