高平行度双稳态夹持机构设计与分析

采用刚体代替综合法设计了一个以高平行度的双四边形机构为提升平台的平面折展柔顺机构，克服了单平行四边形提升机构的缺点，提高了提升平台与地面的平行度。设计了一个双稳态夹持机构，通过限制夹持机构滑块的位移控制加持力的大小，以稳态二为工作状态保证加持力的稳定。最后通过辅助机构将两机构组合在一起，使一个驱动能够同时完成提升和夹持两个动作。建立了该机构的伪刚体模型，分析了该机构输入力矩与转角和位移之间的关系，并通过实例的理论计算和有限元仿真分析，验证了伪刚体模型的正确性和机构设计的实用性。

Design and analysis of bi-stable grasper mechanisms highly parallel to the ground

In combination with the rigid-body replacement synthesis design approach, a double parallelogram lifting platform based on a lamina emergent mechanism is designed, which overcomes the disadvantage of a single parallelogram mechanism and improves the parallelism. Then a bi-stable grasper is designed, which is limited the slider movement to control the clamping force, using the second balanced state as a working condition to maintain a constant clamping force. At last these two parts are combined by subsidiary in order to drive the lift and clamp movement by only one motion. At the same time, based on a pseudo-rigid-body model, the force-displacement relationship is derived. One practical example is calculated according to this theory and is analyzed by finite element simulation to verify the correctness of the theory and the usability of the mechanism.