.158 北京科技大学学报 2007年增刊2 mm,采用图2所示伪刚体模型方法，得到△02= 出在用伪刚体模型分析集中柔度全柔性机构的基础 0.6392°，采用本文分析方法得到△2=0.6489，而 上，考虑构件线弹性变形的分析方法，并给出了计算 有限元仿真结果为△3=0.6485，则伪刚体模型方 实例，为进一步分析具有分布柔度的全柔性机构提 法的相对误差为1.43%，本文方法的相对误差为一 供一种思路。 0.06%,由此可见，两种方法都可行，而采用本文方 法，其结果与仿真结果更加接近 参考文献 [1】杨启志、三平移全柔性微动机器人机构的位置运动分析·农 5结论 业机械学报，2006,37(11)：96 [2]于靖军。全柔性机器人机构结构动力学分析方法研究.机械 (1)在全柔性机构分为具有集中柔度和分布柔 工程学报，2004,8,54 度的全柔性机构的基础上，提出了第三类具有不完 [3]于靖军，全柔性机构与MEMS,光学精密工程.2001,9(1)：1 全分布柔度的全柔性机构的概念，从而将全柔性机 [4]Jang G W.Kim K J.Kim YY.Integrated topology and shape 构分为三类 optimization software for compliant MEMS mechanism design- (2)给出了全柔性机构分类的依据，定义了特征 Advances in Engineering Software.2008.(39):1 [5]Howell LL.Compliant Mechanisms.John Wiley &Sons.2001 尺寸比值的概念，并根据该比值取值范围来分类， [6]Brian D J.Howell LL.The modeling of cross axis flexural piv- (③)根据不完全分布柔度全柔性机构的特点，提 ots.Mechanism and Machine Theory,2002.37(5):461 Study on complete compliant mechanisms of incompletion distributed compliance QIU Lifang,WENG Haishan,LIU Lin,NA N tieling Mechanical Engineering School.University of Seience and Technology Beijing.Beijing 100083.China ABSTRACI A new concept,incompletion distributed complete compliant mechanism,was proposed.The compliance of incompletion distributed complete compliant mechanism,the third complete compliant mecha- nism,is bet ween those of lumped compliant mechanism and distributed complete compliant mechanisms.In or- der to classify the complete compliant mechanism,a new concept,character dimension ratio,was also given. According the characteristic of the third complete compliant mechanism,the deflection of link was taken into ac- count when complete compliant mechanism was analyzed with pseudo rigid-body model.Finally,the calculation of an example was given and the result indicates that the method is validity. KEY WORDS complete compliant mechanism:pseudo rigid-body model;lumped compliance:distributed com- pliance;incompletion distributed compliancemm‚采用图2所示伪刚体模型方法‚得到 Δθ2＝ 0∙6392°‚采用本文分析方法得到Δθ′2＝0∙6489‚而 有限元仿真结果为Δθ″2＝0∙6485‚则伪刚体模型方 法的相对误差为1∙43％‚本文方法的相对误差为— 0∙06％‚由此可见‚两种方法都可行‚而采用本文方 法‚其结果与仿真结果更加接近． 5 结论 （1）在全柔性机构分为具有集中柔度和分布柔 度的全柔性机构的基础上‚提出了第三类具有不完 全分布柔度的全柔性机构的概念‚从而将全柔性机 构分为三类． （2）给出了全柔性机构分类的依据‚定义了特征 尺寸比值的概念‚并根据该比值取值范围来分类． （3）根据不完全分布柔度全柔性机构的特点‚提 出在用伪刚体模型分析集中柔度全柔性机构的基础 上‚考虑构件线弹性变形的分析方法‚并给出了计算 实例‚为进一步分析具有分布柔度的全柔性机构提 供一种思路． 参 考 文 献 ［1］ 杨启志．三平移全柔性微动机器人机构的位置运动分析．农 业机械学报‚2006‚37（11）：96 ［2］ 于靖军．全柔性机器人机构结构动力学分析方法研究．机械 工程学报‚2004‚8：54 ［3］ 于靖军．全柔性机构与 MEMS．光学精密工程‚2001‚9（1）：1 ［4］ Jang G W‚Kim K J‚Kim Y Y．Integrated topology and shape optimization software for compliant MEMS mechanism design． Advances in Engineering Software‚2008‚（39）：1 ［5］ Howell L L．Compliant Mechanisms．John Wiley＆Sons‚2001 ［6］ Brian D J‚Howell L L．The modeling of cross-axis flexural piv￾ots．Mechanism and Machine Theory‚2002‚37（5）：461 Study on complete compliant mechanisms of incompletion distributed compliance QIU L if ang‚WENG Haishan‚LIU L in‚NA N tieling Mechanical Engineering School‚University of Science and Technology Beijing‚Beijing100083‚China ABSTRACT A new concept‚incompletion distributed complete compliant mechanism‚was proposed．The compliance of incompletion distributed complete compliant mechanism‚the third complete compliant mecha￾nism‚is between those of lumped compliant mechanism and distributed complete compliant mechanisms．In or￾der to classify the complete compliant mechanism‚a new concept‚character dimension ratio‚was also given． According the characteristic of the third complete compliant mechanism‚the deflection of link was taken into ac￾count when complete compliant mechanism was analyzed with pseudo-rigid-body model．Finally‚the calculation of an example was given and the result indicates that the method is validity． KEY WORDS complete compliant mechanism；pseudo-rigid-body model；lumped compliance；distributed com￾pliance；incompletion distributed compliance ·158· 北 京 科 技 大 学 学 报 2007年 增刊2