Modeling And Simulation Of Dynamics For Rigid-Flexible Coupled Compliant Mechanism Based On Half-Outside LET Compliant Joint

In the study of dynamics of flexible multibody systems,Absolute Nodal Coordinate Formulation can effectively analyze the large deformation of flexible body,but it cannot describe rigid motion of rigid body.This article is based on the rigid-flexible coupled compliant mechanism based on half-outside LET compliant joint.The Absolute-Coordinates-Based combining the Natural Coordinate Formulation and Absolute Nodal Coordinate Formulation is used to complete the dynamic modeling of this mechanism,and the dynamic characteristics of the mechanism are analyzed.The main contents are as follows:Using the rigid body Natural Coordinate Formulation which can describe motion of the rigid body,the mass matrix,generalized external force,intrinsic constraint equation and Jacobian matrix of a rigid body in the form of Natural Coordinates are deduced.Using The Absolute Nodal Coordinate Formulation which can describe the deformation of flexible body.The three-dimensional-two-node beam element shape function,slope discontinuity transformation matrix,element mass matrix,elastic force matrix and external force matrix are deduced.Based on the Absolute-Coordinates-Based which combined Natural Coordinate Formulation and Absolute Nodal Coordinate Formulation.The mass matrix,generalized external forces,constraint equations and Jacobian matrix of the system are deduced and the dynamic equations of the system are established.Simulation of rigid-flexible coupling compliant mechanism with flexible cantilever beam and rigid body,Verify the feasibility of the formulation.Established a dynamic model of the rigid-flexible coupled compliant mechanism based on half-outside Lamina Emergent Torsional compliant joint under a variety of forces,The motion state of the mechanism is simulated numerically.The rigid-flexible coupled compliant mechanism based on half-outside LET compliant joint is taken as the object,The actual motion state of the mechanism under force is obtained by experimental.At last,the experimental results of the rigid-flexible coupling compliant mechanism based on...