Self-assembling compliant rotational hinge based on corrugated sheet, method of formation and platform

Abstract

The application discloses a self-assembled compliant rotary hinge based on corrugated sheets, a forming method and a platform, relates to the technical field of precision transmission and precision positioning, and comprises a male rotary joint and a female rotary joint, one end of the male rotary joint and one end of the female rotary joint are movably matched and are on the same straight line, two half-moon period corrugated flexible bodies, the two half-moon period corrugated flexible bodies are both provided with a plurality of circular arc segments which are periodically expanded along a half-moon arc line, any two of the circular arc segments are tangent to each other, two ends of the two half-moon period corrugated flexible bodies are connected to the male rotary joint and the female rotary joint respectively, the two half-moon period corrugated flexible bodies are symmetrically arranged along the straight line formed by the male rotary joint and the female rotary joint, and the axes of the two half-moon period corrugated flexible bodies coincide.

Description

Technical Field

[0001] The present invention relates to the technical field of precision transmission and precision positioning, and in particular to a self-assembly compliant rotary hinge based on a corrugated sheet, a forming method and a platform. Background Art

[0002] Existing technologies, such as patent CN 104332183 A, disclose a novel, high-precision, long-travel positioning platform. Measuring less than 60 mm by 60 mm, the platform utilizes a corrugated sheet as a flexible element, enabling a two-dimensional translational output of several millimeters and a one-dimensional rotational output. The corrugated sheet's structural dimensions can be adjusted to suit the specific operating environment to achieve an appropriate maximum travel. The flexible body's regular triangular distribution improves output stability, reducing axis drift during movement. The flexible body is integrally machined using a wire-cutting machine, avoiding errors introduced by assembly.

[0003] However, although the above-mentioned high-precision positioning platform in the prior art adopts an equilateral triangle arrangement to reduce axis drift, there are still large errors in motion control. In addition, the rotational motion of the above-mentioned high-precision positioning platform is controlled and output through translational coupling motion, and there is a relatively complex relationship between both positioning control and error compensation.

[0004] Currently, most common precision positioning platforms use notched flexure hinges as their flexible elements. While these can achieve submicron or even nanometer positioning accuracy when coupled with high-performance actuators and sophisticated drive methods, their operating range is limited to tens of microns. A few commercial precision positioning platforms driven by micromotors, while capable of millimeter-level motion, lack high accuracy and suffer from the inherent shortcomings of traditional machinery. Summary of the Invention

[0005] In response to the deficiencies in the prior art, the present invention provides a self-assembling compliant rotary hinge based on a corrugated sheet, a forming method and a platform, which can achieve high-precision angular positioning performance while achieving a large range of motion.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a self-assembling large-stroke compliant rotary hinge based on a corrugated sheet, comprising:

[0008] A male rotary joint and a female rotary joint, one end of the male rotary joint and one end of the female rotary joint are movably matched and are on the same straight line;

[0009] Two half-moon period corrugated flexible bodies, each of the two half-moon period corrugated flexible bodies has a plurality of circular arc segments periodically extended along a half-moon arc, any two of the circular arc segments are tangent to each other, two ends of the two half-moon period corrugated flexible bodies are connected to the male rotary joint and the female rotary joint respectively, the two half-moon period corrugated flexible bodies are symmetrically arranged along a straight line formed by the male rotary joint and the female rotary joint, and axes of the two half-moon period corrugated flexible bodies coincide.

[0010] In a second aspect, the present application provides a forming method of a half-moon period corrugated flexible body, which comprises:

[0011] Each of the half-moon period corrugated flexible bodies has a plurality of circular arc segments periodically extended along a half-moon arc, any two of the circular arc segments are tangent to each other, each of the circular arc segments comprises a corrugated period start segment, a corrugated period middle segment and a corrugated period end segment connected in sequence;

[0012] A flexibility matrix of the corrugated period start segment, the corrugated period middle segment and the corrugated period end segment is established;

[0013] A flexibility matrix of the circular arc segment is established according to the flexibility matrix of the corrugated period start segment, the corrugated period middle segment and the corrugated period end segment;

[0014] A flexibility matrix of the half-moon period corrugated flexible body is established according to the flexibility matrix of the circular arc segment.

[0015] In a third aspect, the present application further provides a precision positioning platform, which comprises:

[0016] A transmission component with the self-assembled large-stroke compliant rotary hinge based on corrugated sheets as described above.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] (1) The overall size of the self-assembled large-stroke compliant rotary hinge based on corrugated sheets is within 100mmx80mm, the periodically distributed corrugated sheets are used as flexible elements, a plane rotation output of ±40 degrees can be obtained, the structure size and arrangement period of the corrugated sheets can be changed according to the specific working environment to obtain a proper output stroke.

[0019] (2) The symmetrical distribution structure of the corrugated sheets improves the stability of the output, i.e. reduces the drift of the axis center during movement, and the symmetrical structure is beneficial to the automatic reset of the rotary joint and improves the zero-return property.

[0020] (3) The deformed and stressed parts adopt periodically distributed corrugated flexible elements, the movement process has continuity, has high positioning accuracy, the corrugated distribution of the half-moon periodic corrugated flexible body on the upper and lower sides has periodicity, and is convenient for programmed design and precise motion control.

[0021] (4) The male rotary joint and the female rotary joint adopt self-assembly bistable design, can provide rotation constraint, can accurately determine the axis of the rotary joint according to arc tangency and three-point positioning, and are suitable for precise machining conditions.

[0022] (5) The rotary joint can be integrally machined by a wire cutting machine, avoids errors introduced by external assembly, has high flexibility and a large movement range. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0024] Figure 1 Fig. 1 is a three-dimensional structure diagram of a self-assembly large-stroke compliant rotary hinge based on corrugated sheets according to the present application.

[0025] Figure 2 Fig. 2 is a structure diagram of a half-moon periodic corrugated flexible body according to the embodiment of the present application.

[0026] Figure 3 Fig. 3 is a structure diagram of a male rotary joint according to the present application.

[0027] Figure 4 Fig. 4 is a structure diagram of a female rotary joint according to the present application.

[0028] In the drawings: Figure 1 1-First half-moon periodic corrugated flexible body; 2-Male rotary joint; 3-Second half-moon periodic corrugated flexible body; 4-Female rotary joint.

[0029] Figure 2 11-Wave period starting section; 12-Wave period middle section; 13-Wave period ending section.

[0030] Figure 3 21-Male outer tangent positioning end; 22-Male transmission rod.

[0031] Figure 4 41-First flexible clamping blocking positioning body; 42-Female inner tangent positioning end; 43-Second flexible clamping blocking positioning body; 44-Female transition rod section; 45-Female transmission rod. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described in connection with the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0033] Embodiment:

[0034] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in other than the order illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] It should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0036] In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited. In addition, unless otherwise explicitly specified and limited, the terms "mount", "connect", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In the present application, unless otherwise explicitly specified and limited, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0038] Referring to Figures 1 to 4 A corrugated sheet-based self-assembled large-stroke compliant rotary hinge can specifically include a male rotary joint and a female rotary joint and two half-moon period corrugated flexible bodies, wherein one end of the male rotary joint and one end of the female rotary joint are movably matched and on the same straight line; each of the two half-moon period corrugated flexible bodies has a plurality of circular arc segments periodically expanded along a half-moon arc, any two of the circular arc segments are tangent to each other, two ends of the two half-moon period corrugated flexible bodies are connected to the male rotary joint and the female rotary joint respectively, the two half-moon period corrugated flexible bodies are symmetrically arranged along the straight line formed by the male rotary joint and the female rotary joint, and the axes of the two half-moon period corrugated flexible bodies coincide.

[0039] As an optional implementation, in some embodiments, each of the circular arc segments includes a corrugated period start segment, a corrugated period intermediate segment and a corrugated period end segment connected in sequence, the corrugated period start segment, the corrugated period intermediate segment and the corrugated period end segment have the same radius and are tangent at the contact point, and the central angles of the corrugated period start segment and the corrugated period end segment are the same.

[0040] As an optional implementation, in some embodiments, the movably matched end of the male rotary joint is provided with a male circumscribed positioning end, the male circumscribed positioning end has an outer profile surface of a cylinder, and the side surface of the cylinder serves as a movably matched surface.

[0041] As an optional implementation, in some embodiments, the movably matched end of the female rotary joint is provided with a female inscribed positioning end, the female inscribed positioning end has a cavity matched with the male circumscribed positioning end, and the two ends of the female inscribed positioning end have flexible blocking positioning bodies protruding inward of the cavity.

[0042] As an optional implementation, in some embodiments, the male rotary joint further has a male transmission rod connected with the male circumscribed positioning end.

[0043] As an optional implementation, in some embodiments, the female head rotary joint further has a female head transition rod segment and a female head transmission rod connected in sequence with the female head endocentric positioning end.

[0044] As an optional implementation, in some embodiments, a line cutting gap of 0.3mm is provided between the male head exocentric positioning end and the female head endocentric positioning end.

[0045] As an optional implementation, in some embodiments, the two half-moon periodic corrugated flexible bodies have rounded corners at the connection with the male head rotary joint and the female head rotary joint.

[0046] Based on the same inventive concept, the embodiments of the present application further provide a forming method of a half-moon periodic corrugated flexible body, which can include the following steps:

[0047] The half-moon periodic corrugated flexible body has a plurality of circular arc segments periodically extended along a half-moon arc, and any two of the circular arc segments are tangent to each other, and each of the circular arc segments includes a corrugated periodic start segment, a corrugated periodic intermediate segment and a corrugated periodic end segment connected in sequence;

[0048] establishing a compliance matrix of the corrugated periodic start segment, the corrugated periodic intermediate segment and the corrugated periodic end segment;

[0049] establishing a compliance matrix of the circular arc segment according to the compliance matrix of the corrugated periodic start segment, the corrugated periodic intermediate segment and the corrugated periodic end segment;

[0050] establishing a compliance matrix of the half-moon periodic corrugated flexible body according to the compliance matrix of the circular arc segment.

[0051] Further, following the above embodiments, the embodiments of the present application further provide a forming method of a self-assembled large-stroke compliant rotary hinge based on corrugated sheets, which can include the following steps:

[0052] The half-moon periodic corrugated flexible body formed by the above steps is arranged along the linear symmetry of the male head rotary joint and the female head rotary joint, which is equivalent to two half-moon periodic corrugated flexible bodies connected in parallel;

[0053] obtaining a compliance matrix of a self-assembled large-stroke compliant rotary hinge based on corrugated sheets according to the compliance matrix of the two half-moon periodic corrugated flexible bodies connected in parallel.

[0054] Further, following the above embodiments, the embodiments of the present application further provide a working range calculation method of a self-assembled large-stroke compliant rotary hinge based on corrugated sheets, which can include the following steps:

[0055] The flexibility matrix of the self-assembled large-stroke compliant rotary hinge according to the above steps obtains a working range of the self-assembled large-stroke compliant rotary hinge.

[0056] Based on the same inventive concept, the embodiment of the present application also provides a precision positioning platform, which comprises a transmission component loaded with the self-assembled large-stroke compliant rotary hinge based on the corrugated sheet according to the above embodiment.

[0057] The embodiment of the present application discloses a self-assembled large-stroke compliant rotary hinge based on a corrugated sheet, a forming method and a platform, and the whole hinge is integrally processed by wire cutting. In use, the normal work of the compliant rotary hinge can be realized by completing the self-assembly operation, performing the horizontal displacement of the male rotary joint and inserting the male rotary joint into the cavity of the female rotary joint. The present application can obtain a large-amplitude high-precision rotary output under the condition that the overall size of the positioning platform is very small. The motion of the platform is generated by the tensile and compressive deformation of the periodic corrugated spring sheet. The use of the corrugated spring sheet greatly improves the flexibility of the whole device and can obtain a larger rotary output. The male rotary joint and the female rotary joint can obtain high-precision rotary positioning accuracy through the center positioning in work, and the shaft drift of the transmission rod during rotation is reduced. The structure is simple, applied to integrated processing and high-precision positioning occasions. The present application well balances the large-stroke and high-precision motion and positioning performance.

[0058] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application:

[0059] As Figure 1As shown, a self-assembled large-stroke compliant rotational hinge based on corrugated sheet, including first half-moon period corrugated flexible body 1 and second half-moon period corrugated flexible body 3 arranged symmetrically, male rotational joint 2 and female rotational joint 4 are in the same straight line and coincide with the axis of the two flexible bodies. In order to reduce stress concentration, the period corrugated flexible body adopts round corner transition at the connection with the rotational joint. There is a 0.3mm wire cutting gap between the male rotational joint 2 and the female rotational joint 4 to control the machining error. In addition, the maximum circumference that can be accommodated in the cavity at the right end of the female rotational joint 4 is slightly smaller than the circumference size of the left end of the male rotational joint 2, and the two are in interference fit, which is used to increase the pre-tightening force and improve the positioning accuracy. Further, the first half-moon period corrugated flexible body 1, the male rotational joint 2, the second half-moon period corrugated flexible body 3 and the female rotational joint 4 are in the same plane, and are processed by wire cutting integrated processing during processing. Further, the male rotational joint 2 and the female rotational joint 4 are in a separated state after processing, and during work, the male rotational joint 2 needs to be pushed horizontally to make it fit into the cavity of the female rotational joint 4, and realize three-line positioning, pre-tightening and precise rotation work. Exemplarily, the overall size of the self-assembled large-stroke compliant rotational hinge based on corrugated sheet is within 100mmx80mm, which uses periodically distributed corrugated sheet as flexible element, can obtain ±40 degree plane rotation output, and can change the structure size and arrangement period of the corrugated sheet according to the specific working environment to obtain appropriate output stroke.

[0060] As Figure 2As shown, the first half-moon period corrugated flexible body 1 and the second half-moon period corrugated flexible body 3 are exactly the same, both of which are expanded by tangential contact of periodic circular arc segments, each period includes three segments, which are the corrugated period starting segment 11, the corrugated period middle segment 12 and the corrugated period ending segment 13, the arc radius of each segment is the same, and the contact points are tangential, wherein the central angles of the corrugated period starting segment 11 and the corrugated period ending segment 13 are the same. The corrugated segment of the next period is obtained by rotating the corrugated segment of the previous period around the center of the overall span of the corrugated body by a period angle, and the period angle is determined by equally dividing the central angle of the semicircle by the number of periods. In the final corrugated shape, the centers of all small circular arcs are on the same circle, and the outermost points of all circular arcs are on the same circle, and the radii of the two circles are related to the period angle. When calculating the compliance, the compliance matrix of each segment, i.e. the corrugated period starting segment 11, the corrugated period middle segment 12 and the corrugated period ending segment 13, can be calculated separately, and then the compliance matrix of one period can be obtained through matrix transformation and adjoint transformation. Finally, the compliance matrix of the first half-moon period corrugated flexible body 1 can be obtained by expansion, and the compliance matrix of the overall rotary joint can be obtained since the first half-moon period corrugated flexible body 1 and the second half-moon period corrugated flexible body 3 are connected in parallel. Finally, the working range of the self-assembled large-stroke compliant rotary hinge based on corrugated sheets can be calculated. In this way, the symmetrical distribution structure of the corrugated sheet improves the stability of the output, i.e. reduces the drift of the axis during movement. The symmetrical structure is beneficial to the automatic reset of the rotary joint and improves the zero-return property. In addition, the deformed and stressed parts adopt periodic corrugated flexible elements, and the movement process has continuity, high positioning accuracy, and periodic corrugated distribution of the half-moon period corrugated flexible bodies on the upper and lower sides, which is convenient for programmatic design and precise motion control.

[0061] As shown in Figure 2 , the first half-moon period corrugated flexible body 1 and the second half-moon period corrugated flexible body 3 are the key parts of the application, which are the main deformed and stressed elements and determine the working range of the entire platform. By changing the horizontal span, width, thickness, number of corrugated periods and material of the corrugated segments, different stiffness values can be obtained, thereby the maximum stroke of the entire platform can be designed.

[0062] As shown in Figure 3 , the left end of the male rotary joint 2 is machined with a male external tangent positioning end 21, which is designed as a cylinder. In order to realize the tangent positioning of the circle, the right end is a male transmission rod 22 which can be used as the input or output end of movement and torque.

[0063] As shown in Figure 4As shown, the right end of the female head rotary joint 4 is designed with a first flexible blocking positioning body 41 and a second flexible blocking positioning body 43 on the upper and lower sides, respectively, which are the key parts of self-assembly, used to be tangent to the male head outer tangent positioning end 21, prevent the horizontal reset of the male head rotary joint 2 after assembly, and achieve accurate positioning of the rotation center of the male head rotary joint 2, and inhibit the shaft drift. The female head inner tangent positioning end 42 is located in the cavity at the right end of the female head rotary joint 4, and is also tangent to the male head outer tangent positioning end 21 after self-assembly, which can provide a pre-tightening force after assembly, and together with the first flexible blocking positioning body 41 and the second flexible blocking positioning body 43, realize the three-circle tangent center positioning of the shaft center, and the thickness size of the female head inner tangent positioning end 42 is related to the pre-tightening force and the assembly force, which can be designed as needed. In this way, the male head rotary joint and the female head rotary joint adopt a self-assembly double-stable design, which can provide rotational constraints, and according to the tangent of the circular arc and the three-point positioning, the shaft center of the rotary joint can be accurately determined, which is suitable for precise machining conditions.

[0064] As shown in Figure 4 The female head transition rod section 44 is located between the female head inner tangent positioning end 42 and the female head transmission rod 45, and the size of this part can control the size of the installation force of self-assembly, and the female head transmission rod 45 can be used as the input or output end of motion and torque.

[0065] The rotary joint of the present application is integrally processed by a precision wire cutting machine tool, and the configuration after processing is as shown in Figure 1 As shown, the male head rotary joint 2 and the female head rotary joint 4 are required to have a wire cutting gap of 0.3mm. In use, first self-assembly is performed, the male head rotary joint 2 is pushed horizontally into the cavity of the female head rotary joint 4, after assembly, the first flexible blocking positioning body 41, the second flexible blocking positioning body 43 and the female head inner tangent positioning end 42 will generate a pre-tightening force on the male head outer tangent positioning end 21, and the three are in tangent contact, which can achieve precise positioning of the rotation center. In work, the intermediate male head rotary joint 2 and the female head rotary joint 4 only provide positioning of the rotation center position, and the first half-month periodic corrugated flexible body 1 and the second half-month periodic corrugated flexible body 3 provide overall motion and force constraint. The rotary joint as a whole can be integrally processed by a wire cutting machine tool, thereby avoiding errors introduced by external assembly, and has high flexibility and large motion range.

[0066] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0067] The above embodiments are only for the purpose of illustrating the technical concepts and characteristics of the present application, and the purpose is to enable those of ordinary skill in the art to understand the content of the present application and to implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made in accordance with the essence of the present application should be covered within the protection scope of the present application.

Claims

1. A corrugated sheet based self-assembling large stroke compliant rotational hinge, characterized in that, The utility model relates to a self-assembled large-stroke flexible rotary joint based on corrugated sheet, comprising: A male rotary joint and a female rotary joint, one end of the male rotary joint and one end of the female rotary joint are movably connected and are on the same straight line; Two half-moon period corrugated flexible bodies, each of the two half-moon period corrugated flexible bodies has a plurality of circular arc segments periodically extended along a half-moon arc, any two of the circular arc segments are tangent to each other, two ends of the two half-moon period corrugated flexible bodies are connected to the male rotary joint and the female rotary joint respectively, the two half-moon period corrugated flexible bodies are symmetrically arranged along the straight line formed by the male rotary joint and the female rotary joint, and the axes of the two half-moon period corrugated flexible bodies coincide.

2. The corrugated sheet based self-assembling large-stroke compliant rotational hinge of claim 1, wherein, Each of the circular arc segments comprises a corrugated period start segment, a corrugated period intermediate segment and a corrugated period end segment connected in sequence, the corrugated period start segment, the corrugated period intermediate segment and the corrugated period end segment have the same radius and are tangent to each other at a contact point, and the central angles of the corrugated period start segment and the corrugated period end segment are the same.

3. The corrugated sheet based self-assembling large stroke compliant rotational hinge of claim 1, wherein, The movably connected end of the male rotary joint is provided with a male external tangent positioning end, the male external tangent positioning end has the outer profile surface of a cylinder, and the side surface of the cylinder serves as a movably connected surface.

4. The corrugated sheet based self-assembling large stroke compliant rotational hinge of claim 3, wherein, The movably connected end of the female rotary joint is provided with a female internal tangent positioning end, the female internal tangent positioning end has a cavity in tangential cooperation with the male external tangent positioning end, and the two ends of the female internal tangent positioning end have flexible clamping positioning bodies protruding inward of the cavity.

5. The corrugated sheet based self-assembling large stroke compliant rotational hinge of claim 3, wherein, The male rotary joint further has a male transmission rod connected to the male external tangent positioning end.

6. The corrugated sheet based self-assembling large stroke compliant rotational hinge of claim 4, wherein, The female rotary joint further has a female transition rod segment and a female transmission rod connected to the female internal tangent positioning end in sequence.

7. The corrugated sheet based self-assembling large stroke compliant rotational hinge of claim 4, wherein, A line cutting gap of 0.3 mm is arranged between the male external tangent positioning end and the female internal tangent positioning end.

8. The corrugated sheet based self-assembling large stroke compliant rotational hinge of claim 1, wherein, The connection between the two half-moon period corrugated flexible bodies and the male rotary joint and the female rotary joint has a rounded corner.

9. A precision positioning platform, characterized by, The utility model relates to a transmission component with a self-assembled large-stroke flexible rotary joint based on corrugated sheet as claimed in any one of claims 1-8. ​

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