·768· 工程科学学报，第39卷，第5期 3.0r 74) [8]Yu JJ,Pei X,Bi SS,et al.State-of-arts of design method for 2.5 ·一双串联柔性铰链 flexure mechanisms.J Mech Eng,2010,46(13):2 。一三串联柔性铰链 一外LET柔性饺链 (于靖军，裴旭，毕树生，等.柔性铰链机构设计方法的研究 2.0 进展.机械工程学报，2010,46(13)：2) [9]Merriam E G,Colton M,Magleby S,et al.The design of a fully 15 compliant statically balanced mechanism /ASME 2013 Interna- 1.0 tional Design Engineering Technical Conferences Computers and Information in Engineering Conference.Portland,2013: 0.5 V06AT07A035 量一 [10]Pluimers PJ,Tolou N,Jensen B D.et al.A compliant on/off 10 20 30 40 50 connection mechanism for preloading statically balanced compli- 拉力N ant mechanisms /ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engi- 图13打通型双串联、三串联柔性铰链与外LET仿真拉力变形 neering Conference.Chicago,2012:373 Fig.13 Simulation tension deformation diagram of double-series, [11]Tanner J D,Grames C,Jensen B D,et al.Millimeter-scale ro- triple-series flexible hinges and outside LET hinge botic mechanisms using carbon nanotube composite structures. 廓尺寸相同的外LET柔性铰链进行了对比与分析，结 Mech Rob,2015,7(2):021001 果表明前两者在拉压性能略有下降的情况下，可以使 [12]Kemeny D C,Howell LL,Magleby S P.Using compliant mech- anisms to improve manufacturability in MEMS//ASME 2002 In- 弯曲性能获得较大提升，且三串联LET柔性铰链对弯 ternational Design Engineering Technical Conferences and Com- 曲性能提升幅度最大.因此，这两种结构形式的铰链 puters and Information in Engineering Conference.Montreal, 能够改善柔性铰链的柔度，增大变形。 2002:247 [13]Gollnick P S,Magleby S P,Howell LL.An introduction to 参考文献 multi-layer lamina emergent mechanisms.J Mech Des,2011, [1]Yu J J,Hao G B,Chen G M,et al.State-of-art of compliant 133(8):081006 mechanisms and their applications.IMech Eng,2015,51(13): [14]Jacobsen J O,Chen G M,Howell LL,et al.Lamina emergent 53 torsional (LET)joint.Mech Machine Theory,2009,44(11 ) (于靖军，郝广波，陈贵敏，等.柔性机构及其应用研究进展 2098 机械工程学报，2015,51(13)：53) [15]Qiu L F,Pang DQ.Chen JX,et al.Design and performance a- [2]Jacobsen J0,Winder B G,Howell L L,et al.Lamina emergent nalysis of lamina emergent mechanisms S-LET-shaped flexure mechanisms and their basic elements.Mech Rob,2009,2(1): hinge.T Chin Soc Agric Mach,2016,47(2):408 011003 (邱丽芳，庞大千，陈家兴，等.S-LET复合型柔性铰链设 [3]Howell L L.Compliant Mechanisms.Beijing:Higher Education 计与性能研究.农业机械学报，2016,47(2)：408) Pres5,2007 [16]Delimont I L,Magleby S P,Howell LL.Evaluating compliant (How©lLL.柔顺机构学.北京：高等教育出版社，2007) hinge geometries for origami-inspired mechanisms.Mech Rob, [4]Yu Y O,Howell LL,Lusk C.et al.Dynamic modeling of com- 2015,7(1):011009 pliant mechanisms based on the pseudo-rigid-body model. [17]Wilding S E,Howell LL,Magleby S P.Introduction of planar Mech Des,2005,127(4):760 compliant joints designed for combined bending and axial loading [5]Olsen B M,Issac Y,Howell LL,et al.Utilizing a classification conditions in lamina emergent mechanisms.Mech Machine Theo- scheme to facilitate rigid-body replacement for compliant mecha- y.2012,56:1 nism design /ASME 2010 International Design Engineering Tech- [18]Fowler R M,Maselli A,Pluimers P,et al.Flex-16:a large- nical Conferences and Computers and Information in Engineering displacement monolithic compliant rotational hinge.Mech Ma- Conference.Montreal,2010:475 chine Theory.2014.82:203 [6]Lyon S M,Howell LL.A simplified pseudo-rigid-body model for [19]Aten Q T,Jensen B D,Howell LL.Geometrically non-linear a- fixed-fixed flexible segments//ASME 2002 International Design nalysis of thin-film compliant MEMS via shell and solid ele- Engineering Technical Conferences and Computers and Information ments.Finite Elem Anal Des,2012,49(1):70 in Engineering Conference.Montreal,2002:23 [20]Qiu L F,Yin S Q,Xie Z T.Failure analysis and performance [7]Li JJ,Liu X Y,Chen G M,et al.Automatically generating kine- comparison of Triple-LET and LET flexure hinges.Eng Failure tostatic model for planar flexure-based compliant mechanisms. Anal,2016,66:35 Xidian Unin Nat Sci,2016,43(6):74 [21]Chen G M,Howell LL.Two general solutions of torsional com- (李佳杰，刘小院，陈贵敏，等.平面柔性铰链机构自动建模 pliance for variable rectangular cross-section hinges in compliant 方法.西安电子科技大学学报：自然科学版，2016,43(6)： mechanisms.Precision Eng,2009,33(3):268工程科学学报,第 39 卷,第 5 期 图 13 打通型双串联、三串联柔性铰链与外 LET 仿真拉力变形 Fig. 13 Simulation tension deformation diagram of double鄄鄄 series, triple鄄鄄series flexible hinges and outside LET hinge 廓尺寸相同的外 LET 柔性铰链进行了对比与分析,结 果表明前两者在拉压性能略有下降的情况下,可以使 弯曲性能获得较大提升,且三串联 LET 柔性铰链对弯 曲性能提升幅度最大. 因此,这两种结构形式的铰链 能够改善柔性铰链的柔度,增大变形. 参 考 文 献 [1] Yu J J, Hao G B, Chen G M, et al. State鄄of鄄art of compliant mechanisms and their applications. J Mech Eng, 2015, 51(13): 53 (于靖军, 郝广波, 陈贵敏, 等. 柔性机构及其应用研究进展. 机械工程学报, 2015, 51(13): 53) [2] Jacobsen J O, Winder B G, Howell L L, et al. Lamina emergent mechanisms and their basic elements. J Mech Rob, 2009, 2(1): 011003 [3] Howell L L. Compliant Mechanisms. Beijing: Higher Education Press, 2007 (Howell L L. 柔顺机构学. 北京: 高等教育出版社, 2007) [4] Yu Y Q, Howell L L, Lusk C, et al. Dynamic modeling of com鄄 pliant mechanisms based on the pseudo鄄鄄 rigid鄄鄄 body model. J Mech Des, 2005, 127(4): 760 [5] Olsen B M, Issac Y, Howell L L, et al. Utilizing a classification scheme to facilitate rigid鄄鄄 body replacement for compliant mecha鄄 nism design / / ASME 2010 International Design Engineering Tech鄄 nical Conferences and Computers and Information in Engineering Conference. Montreal, 2010: 475 [6] Lyon S M, Howell L L. A simplified pseudo鄄鄄rigid鄄鄄body model for fixed鄄鄄fixed flexible segments / / ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Montreal, 2002: 23 [7] Li J J, Liu X Y, Chen G M, et al. Automatically generating kine鄄 tostatic model for planar flexure鄄鄄 based compliant mechanisms. J Xidian Univ Nat Sci, 2016, 43(6): 74 (李佳杰, 刘小院, 陈贵敏, 等. 平面柔性铰链机构自动建模 方法. 西安电子科技大学学报:自然科学版, 2016, 43 (6): 74) [8] Yu J J, Pei X, Bi S S, et al. State鄄of鄄arts of design method for flexure mechanisms. J Mech Eng, 2010, 46(13): 2 (于靖军, 裴旭, 毕树生, 等. 柔性铰链机构设计方法的研究 进展. 机械工程学报, 2010, 46(13): 2) [9] Merriam E G, Colton M, Magleby S, et al. The design of a fully compliant statically balanced mechanism / / ASME 2013 Interna鄄 tional Design Engineering Technical Conferences & Computers and Information in Engineering Conference. Portland, 2013: V06AT07A035 [10] Pluimers P J, Tolou N, Jensen B D, et al. A compliant on / off connection mechanism for preloading statically balanced compli鄄 ant mechanisms / / ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engi鄄 neering Conference. Chicago, 2012: 373 [11] Tanner J D, Grames C, Jensen B D, et al. Millimeter鄄鄄scale ro鄄 botic mechanisms using carbon nanotube composite structures. J Mech Rob, 2015, 7(2): 021001 [12] Kemeny D C, Howell L L, Magleby S P. Using compliant mech鄄 anisms to improve manufacturability in MEMS / / ASME 2002 In鄄 ternational Design Engineering Technical Conferences and Com鄄 puters and Information in Engineering Conference. Montreal, 2002: 247 [13] Gollnick P S, Magleby S P, Howell L L. An introduction to multi鄄鄄layer lamina emergent mechanisms. J Mech Des, 2011, 133(8): 081006 [14] Jacobsen J O, Chen G M, Howell L L, et al. Lamina emergent torsional (LET) joint. Mech Machine Theory, 2009, 44 (11): 2098 [15] Qiu L F, Pang D Q, Chen J X, et al. Design and performance a鄄 nalysis of lamina emergent mechanisms S鄄鄄 LET鄄shaped flexure hinge. T Chin Soc Agric Mach, 2016, 47(2): 408 (邱丽芳, 庞大千, 陈家兴, 等. S鄄鄄 LET 复合型柔性铰链设 计与性能研究. 农业机械学报, 2016, 47(2): 408) [16] Delimont I L, Magleby S P, Howell L L. Evaluating compliant hinge geometries for origami鄄inspired mechanisms. J Mech Rob, 2015, 7(1): 011009 [17] Wilding S E, Howell L L, Magleby S P. Introduction of planar compliant joints designed for combined bending and axial loading conditions in lamina emergent mechanisms. Mech Machine Theo鄄 ry, 2012, 56: 1 [18] Fowler R M, Maselli A, Pluimers P, et al. Flex鄄16: a large鄄鄄 displacement monolithic compliant rotational hinge. Mech Ma鄄 chine Theory, 2014, 82: 203 [19] Aten Q T, Jensen B D, Howell L L. Geometrically non鄄linear a鄄 nalysis of thin鄄鄄 film compliant MEMS via shell and solid ele鄄 ments. Finite Elem Anal Des, 2012, 49(1): 70 [20] Qiu L F, Yin S Q, Xie Z T. Failure analysis and performance comparison of Triple鄄LET and LET flexure hinges. Eng Failure Anal, 2016, 66: 35 [21] Chen G M, Howell L L. Two general solutions of torsional com鄄 pliance for variable rectangular cross鄄鄄section hinges in compliant mechanisms. Precision Eng, 2009, 33(3): 268 ·768·