| Citation: | GONG Jinliang, JIA Guopeng, ZHANG Yanfeiet al. Method for output displacement solving of compliant micro-motion mechanism with multi-input forces[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(3): 429-436. doi: 10.13700/j.bh.1001-5965.2017.0219(in Chinese)
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For the compliant micro-motion mechanism with one input force, compliance describes the relation between output displacement and input force, and is an important performance index for the dynamic performance and positioning precision. For the one with many input forces, the relation equation between output displacement and input forces has the same role with the compliance. For obtaining this equation, the method which combined the compliance matrix method and the motion raw of rigid body was proposed. Firstly, the whole structure is divided to elements, and the relation equation between displacement and force of element end is established. Secondly, the superposition or coordinate relation equation about displacements or forces of different element ends was solved according to their structural relation. Finally, the equation of relation between the output displacement and the input forces was worked out by synthesizing all the solved equations. The output displacement of a micro-motion gripper was worked out by this method and contrasted with the one from finite element analysis method. The results show that this method has the enough precision and a good adaptability for micro-motion mechanism performance analysis and optimization. The theory suggestion about dimension optimization was obtained by analyzing the equation by using MATLAB software.
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