静不平衡测量系统柔性杠杆机构分析优化

doi:10.6040/j.issn.1672-3961.0.2017.022

山东大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (1): 78-88.doi: 10.6040/j.issn.1672-3961.0.2017.022

静不平衡测量系统柔性杠杆机构分析优化

缪晖华¹,李培兴¹,胡百振²,张建坤²,闫维新¹,赵言正^1*

1. 上海交通大学机械与动力工程学院机器人研究所, 上海 200240;2.上海航天控制技术研究所, 上海 201109

收稿日期:2017-01-13 出版日期:2018-02-20 发布日期:2017-01-13
通讯作者: 赵言正(1965— ),男,山东烟台人,教授,博士,主要研究方向为特种机器人和服务机器人. E-mail:yzh-zhao@sjtu.edu.cn E-mail:niaohuihua@sjtu.edu.cn
作者简介:缪晖华(1991— ),男,江苏无锡人,博士研究生,主要研究方向为精密测量. E-mail:niaohuihua@sjtu.edu.cn
基金资助:
多轴框架机构静不平衡力矩一体化高精度测量与自动补偿研究国家自然基金资助项目(51475305)

Analysis and design optimization of the performance in flexible lever mechanism for static unbalance measurement system

MIAO Huihua¹, LI Peixing¹, HU Baizhen², ZHANG Jiankun², YAN Weixin¹, ZHAO Yanzheng^1*

1. Research Inst. of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
2. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China

Received:2017-01-13 Online:2018-02-20 Published:2017-01-13

摘要/Abstract

摘要： 以质心投影法为主要测量原理,柔性杠杆机构为桥梁,设计一套多框架机构静不平衡测量系统,分析测量原理特性表明:降低柔性杠杆输出端柔度能够有效提高系统测量精度。基于直圆型柔性铰链封闭方程,建立柔性杠杆的柔度模型,利用有限元分析软件Ansys验证柔度模型的准确性,并通过合理设计优化函数和约束条件,对柔性杠杆机构输入和输出端进行相应优化。结果表明:采用封闭方程建立柔度模型的方法是可行的,其柔度理论值与仿真值误差在9%以内,同时建立的优化函数切实可行,在力臂放大系数变化量仅为2%的前提下,杠杆输出端柔度降低了18.63%,增加了杠杆线性度范围,从而有效提高了静不平衡测量系统测量精度。

关键词: 静不平衡测量, 二阶杠杆, 封闭方程, 柔度模型, 柔性铰链

Abstract: Based on the centroid projection method and flexible mechanism, a set of static unbalance measurement system was designed as well as reducing the flexible lever output flexibility, which could effectively improve the accuracy of measurement by analyzing the measuring principle and components characteristics. The flexible lever flexibility model was established by the circular flexure hinge closed equation, then the finite element analysis software Ansys was used to verify the exactness of the flexibility model. Through reasonable optimization function and constraint conditions, the performance of the input and output in flexible lever mechanism were optimized. The result showed that it was feasible to establish the model flexibility by using the closed-form equation. The error between theoretical value and simulation value was within 9%, and the optimization function was feasible. Under the premise that variation of the lever amplification coefficient was only 2%, leverage output flexibility was reduced by 18.63%. The optimizing result showed that the leverage linearity range was increased to effectively improve the measuring accuracy of static unbalance measurement system.

Key words: closed-form equation, second-order lever, static imbalance measurement, flexible hinge, flexibility model

中图分类号:

TH823

缪晖华,李培兴,胡百振,张建坤,闫维新,赵言正. 静不平衡测量系统柔性杠杆机构分析优化[J]. 山东大学学报(工学版), 2018, 48(1): 78-88.

MIAO Huihua, LI Peixing, HU Baizhen, ZHANG Jiankun, YAN Weixin, ZHAO Yanzheng. Analysis and design optimization of the performance in flexible lever mechanism for static unbalance measurement system[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 78-88.

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静不平衡测量系统柔性杠杆机构分析优化

Analysis and design optimization of the performance in flexible lever mechanism for static unbalance measurement system

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