Research On The Synthesis Method Of Spatial Compliant Mechanism Based On Curved Beam

Compliant mechanism has the advantages of compact structure,high precision and easy to miniaturization,which is widely used in the fields of intelligent structure,aerospace and bionic robot.But the stress concentration in the linear contact points,that affects the service life of the mechanism seriously.The curved beam is introduced into the design of the compliant mechanism,for it can avoid the stress concentration phenomenon.And it has become the hotspot of institutional research.In this paper,the design and analysis of the three degree of freedom and six degrees of freedom curved beam compliant mechanism are carried out based on the integrated method.The static study on circular curved beam compliant unit is completed based on the energy variational principle.The force performance of circular curved beam is analyzed,and the explicit analytical solution of the stiffness matrix is deduced.The numerical calculation program of the circular curved beam element’s stiffness matrix is designed by using the classical beam theory of replacing curve by straight line.Based on the curved beam unit model,the correctness of the analytical solution of the stiffness matrix is verified by the calculation of analytical solution and numerical solution.And the influence of the material properties on the flexibility of the circular curved beam compliant element is analyzed,which provides a theoretical basis for the design of compliant mechanism based on circular curved beam.The construction and static analysis of the curved beam compliant mechanism element model are completed based on the theory of geometrical analysis.The precise model of the curved beam compliant element is constructed by using the geometric modeling algorithm.The softening element of the curved beam is refined based on the mesh refinement method.The stiffness matrix of the curved beam is obtained by combining the mechanical equation.And the theoretical solution correctness of the curved beam flexible element is verified by the numerical examples,which provides a theoretical basis for the design of compliant mechanism based on curved beams.The three degrees of freedom and six degrees of freedom curved beam compliant mechanism are designed,which is based on the theory of energy variational principle and geometric analysis theory and constraint design method.Based on the spin theory,a new method of determining the degree of freedom of mechanism is proposed,and the correctness of the designed compliant element and compliant mechanism are determined by this method.The static and modal analysis of the curved beam compliant mechanism is completed,and the various performance indexes of the mechanism are determined.The prototype model of the mechanism is designed and simulated,and the correctness of the design method is verified.