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Method for implementing multi-stable state of compliant Sarrus mechanism

An implementation method, multi-stable technology, applied in mechanical equipment, belts/chains/gears, transmissions, etc., can solve the problems of Sarrus mechanism service life and motion accuracy reduction

Inactive Publication Date: 2012-10-03
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the rigid hinge in the rigid Sarrus mechanism, the assembly error and friction loss caused by it will reduce the service life and motion accuracy of the Sarrus mechanism. Therefore, the compliant Sarrus mechanism can be used to improve the motion accuracy of the Sarrus mechanism to meet its specific occasions of use

Method used

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  • Method for implementing multi-stable state of compliant Sarrus mechanism
  • Method for implementing multi-stable state of compliant Sarrus mechanism
  • Method for implementing multi-stable state of compliant Sarrus mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] Such as figure 1 As shown, the rigid Sarrus mechanism is a space six-rod single-degree-of-freedom mechanism formed by rigidly hinged six rigid rods 1 through hinges 2. The six rigid rods are respectively the first rod 11, the second rod 12, the third rod 13, The fourth rod 14, the fifth rod 15 and the sixth rod 16, there are six hinges 2 in total, namely the first hinge 21, the second hinge 22, the third hinge 23, the fourth hinge 24, and the fifth hinge 25 and the sixth hinge 26 .

[0028] Such as figure 2 As shown, the sixth rod 16 is fixed, and the first rod 11 can rotate around the first hinge 21, which satisfies the rod length condition: a 1 -a 2 ≥d 4 +d 5 +d 6 ; The third rod 13 can translate along a straight line, that is, satisfy the rod length condition: a 4 +a 5 > d 1 +d 2 +d 3 .

[0029] When the hinge 2 is partially or completely replaced by a rigid hinge with a compliant hinge, the partially compliant or fully compliant Sarrus mechanism formed ...

Embodiment 2

[0038] This embodiment is basically the same as Embodiment 1, except that the fifth hinge 25 is replaced by a rigid hinge with a partially compliant Sarrus mechanism of a compliant hinge, and the sixth rod 16 is fixed. If the fifth hinge 25 is formed without deformation (the fourth When the angle between the rod 14 and the fifth rod 15 is constant), when the first rod 11 can stay stably in two different positions, the mechanism is a bistable compliant Sarrus mechanism, and the two stable The position corresponds to the two rotational steady-state positions of the first rod 11 and the two linear steady-state positions of the third rod 13; if the fifth hinge 25 is not deformed (the fourth rod 14 and the fifth rod 15), when the first rod 11 can stay stably at three different positions, then the first rod 11 of the compliant Sarrus mechanism has three rotation-type steady-state positions, and the third rod The member 13 has two linear steady-state positions, and the mechanism posi...

Embodiment 3

[0043] This embodiment is basically the same as Embodiment 2, and the difference is that the selected size is: a 1 =0.14m,a 2 =0.3m,a 3 =0.1m,a 4 =0.15m,a 5 =0.1m,a 6 =0.4m,d 1 =0.05m, d 2 =0.05m,d 3 =0.06m,d 4 =0.04m,d 5 =0,d 6 =0.04m.

[0044] When the fifth hinge 25 is not deformed (the included angle between the fourth rod 14 and the fifth rod 15 remains unchanged), when the first rod 11 can stay stably at four different positions, the compliant Sarrus mechanism The first rod 11 has four rotational steady-state positions, the third rod 13 has two linear steady-state positions, and the mechanism positions of the two steady-state positions of the first rod 11 correspond to the third The mechanism position of one linear steady-state position of the rod 13, the mechanism position of the other two steady-state positions of the first rod 11 correspond to the other linear steady-state position of the third rod 13 location of the institution.

[0045] Such as Figure...

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Abstract

The invention belongs to the field of compliant mechanisms and relates to a method for implementing multi-stable state of a compliant Sarrus mechanism. The method is characterized in that part or all of rigid hinges in a rigid Sarrus mechanism are replaced by compliant hinges to form a partially or completely compliant Sarrus mechanism and show the rotary and linear multistable features. The stable-state position number and stable-balance position selection of the Sarrus mechanism can be achieved by changing the rod length, and the rotary stable-balance position and the linear stable-balance position correspond with each other. The compliant Sarrus mechanism has advantages of simple structure, good motion characteristics, convenience for fabrication, low fabrication cost and reliable operation; and can be applied in mechanical products requiring rotary or linear multi-stable state or in the occasions requiring the conversion from a rotary motion into a linear motion, for example, lifting devices, translation mechanisms and the like.

Description

technical field [0001] The invention belongs to the field of compliant mechanisms, and is a method for realizing multi-stable states of compliant Sarrus mechanisms. Background technique [0002] The rigid Sarrus mechanism is a space six-bar single-degree-of-freedom mechanism formed by six rigid bars rigidly articulated through hinges, which can convert rotational motion into linear motion. Its structure is simple and it is now widely used in many mechanical products. However, due to the rigid hinge in the rigid Sarrus mechanism, the assembly error and friction loss caused by it will reduce the service life and motion accuracy of the Sarrus mechanism. Therefore, the compliant Sarrus mechanism can be used to improve the motion accuracy of the Sarrus mechanism to meet its specific occasions of use. In addition, the compliant Sarrus mechanism can have both a rotating multi-stable position and a linear multi-stable position, so that the multi-stable characteristics of the compli...

Claims

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Application Information

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IPC IPC(8): F16H21/46
Inventor 陈贵敏张守银勾燕洁
Owner XIDIAN UNIV
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