Design and optimization of a planar anti-buckling compliant rotational joint with a remote center of motion

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL
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引用次数: 0

Abstract

Compliant mechanisms (CMs) exhibit some excellent mechanical properties and provide numerous innovative solutions for many existing mechanical applications. Among them, planar compliant rotational joints have made substantial contributions to precision engineering. To achieve high-precision positioning with a compliant rotational joint, it is essential to study characteristics such as anti-buckling and constant stiffness. The remote center of motion (RCM) mechanism, with its compact structure and ease of precise control, is expected to enhance overall rigidity and reduce parasitic displacements. Here, we propose a planar anti-buckling compliant rotational joint with a RCM. Static modeling and model validation are conducted for different geometric configurations, including single and combined structures. A distributed configuration with bidirectional anti-buckling properties is selected for optimization. Using a global parameter optimization model, single-objective optimization studies are conducted for three distinct characteristics. Subsequently, a multi-objective optimization model for constant stiffness and high precision is established. Based on the optimization results, a compliant rotational joint with bidirectional anti-buckling, constant rotational stiffness, and high precision is designed. Finally, the effectiveness of the optimization method is validated through physical experiments.
设计和优化具有远程运动中心的平面抗弯曲顺应旋转接头
顺应机构(CM)具有一些优异的机械特性,为许多现有的机械应用提供了大量创新解决方案。其中,平面顺应旋转接头为精密工程做出了巨大贡献。要利用顺应旋转接头实现高精度定位,必须研究其抗弯曲和恒定刚度等特性。远程运动中心(RCM)机构结构紧凑,易于精确控制,有望增强整体刚度并减少寄生位移。在此,我们提出了一种带有 RCM 的平面抗弯曲顺应旋转接头。我们针对不同的几何配置(包括单一结构和组合结构)进行了静态建模和模型验证。选择了具有双向抗屈曲特性的分布式结构进行优化。利用全局参数优化模型,针对三个不同的特征进行了单目标优化研究。随后,建立了恒定刚度和高精度的多目标优化模型。根据优化结果,设计出了具有双向抗屈曲、恒定旋转刚度和高精度的顺应旋转接头。最后,通过物理实验验证了优化方法的有效性。
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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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