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基于弹性力学中的应变能理论和卡式第二位移最小定理,推导出了利用余弦曲线轮廓设计的单轴平面微动关节在平面内3个自由度微运动中的柔度解析表达式。在此基础上将各方向柔度变化规律与目前广泛应用于柔性机构设计中的半圆弧曲线平面微动关节的对应规律进行比较,揭示了该类型微动关节在柔性机构设计中的一些有用性能,如柔度随关节尺寸变化较为稳定等。
Based on the theory of strain energy in elastic mechanics and the second minimum displacement theorem, the analytical expression of the flexibility of a single-axis in-plane micro-motion with in-plane micro-motion is deduced. On the basis of this, comparing the law of variation of each direction with the corresponding law of the plane micro-joint of semicircular arc, which is widely used in the design of flexible mechanism now, it is found that this kind of micro-joint is useful in the design of flexible mechanism Performance, such as flexibility with the joint size changes more stable.