Workspace Analysis Of Flexible Plane Folding Mechanism

In the study of the characteristics of the flexible mechanism,it is now possible to effectively analyze the dynamic characteristics such as large motion and large deformation of the flexible body,but it is difficult to describe the working space of the flexible mechanism.In this paper,a double-layer flexible planar folding mechanism is taken as the object,and the idea of combining the pseudo rigid body method with the traditional rigid robot working space solving meth od is adopted.The solution of the working space of the mechanism is solved and based on the absolute node coordinate method.Dynamic modeling and analysis were performed.The main contents are as follows:The pseudo-rigid method is used to combine the flexible rod with the combination of torsion spring and rigid rod.The stiffness coefficient,torsion spring constant and stress calculation expression of the flexible rod are derived.The maximum rotation angle of the flexible rod is obtained according to the selected material characteristics.Based on the pseudo-rigid body method,the single-layer flexible plane folding mechanism is equivalent to the rigid parallel mechanism,and the inverse kinematics equation of the central moving platform is obtained.The kinematic inverse solution is combined with the maximum rotation angle of the flexible rod to obtain the work of the central moving platform.Space;based on the absolute node coordinate method,the dynamic modeling of the single-layer flexible planar folding mechanism is established,and its motion trajectory and strain law of each flexible rod are analyzed.Based on the study of the working space of the single-layer flexible planar folding mechanism,two single-layer flexible planar folding mechanisms are passed through th e flexible rod group and the double-layer flexible plane folding mechanism,and the double-layer flexible folding is based on the pseudo-rigid method.The mechanism is equivalent to a rigid parallel mechanism.The DH coordinate method is used to model the kinematics of the three branches.Combined with the maximum rotation angle of the flexible rod,the Monte Carlo method is used to find the working space of each branch,and the work is taken by taking each branch.The intersection of space is used to obtain the working space of the upper moving platform of the mechanism.Under the premise of considering the initial relative position relationship of the double-layer flexible planar folding mechanism,the dynamic model of the mechanism is analyzed based on the absolute node coordinate method,and the motion of each branch is analyzed.The traj ectory and the strain change law of each flexible rod.