基于等效耦合刚度的平面折展滑块机构分析

柔性铰链是实现平面折展柔顺机构运动的关键部分。如何设计得到柔度好、精度高的柔性铰链一直是柔顺机构研究的关键问题。综合考虑影响平面折展机构铰链刚度和精度特性的等效弯扭及拉压刚度，以LET铰链为例，分析在不同载荷下各个参数对弯扭与拉压等效耦合刚度的影响趋势，从而提出弯扭与拉压等效耦合刚度的概念。通过大量的实例计算和分析，推导出LET铰链弯扭与拉压等效耦合刚度的经验公式。基于等效耦合刚度经验公式，对平面折展柔顺滑块机构进行分析。应用等效耦合刚度公式与不应用等效耦合刚度公式两种情况的分析结果和有限元仿真结果表明，应用等效耦合刚度经验公式的滑块位移计算精度得到很大的提高，验证了等效耦合刚度经验公式的适用性。

Analysis of LEMs slider mechanisms based on equivalent coupling stiffness

The flexure hinge is the key part to implement the movement of lamina emergent mechanisms (LEMs). Designing a flexure hinge with good flexibility and high accuracy is always the key problem to research compliant mechanisms. Considering the ben-ding and tension equivalent stiffness comprehensively which influence the stiffness and accuracy characteristics of LEMs hinges and taking the LET hinge as an example, the effects of different parameters on bending and tension equivalent coupling stiffness are ana-lyzed under different loads and the concept of bending torsion and tension compression coupling is introduced. Through the calculations and analyses of a large number of examples, an empirical formula of bending torsion and tension compression equivalent coupling stiff-ness is derived for the LET flexure hinge. The LEMs slider mechanism is studied based on equivalent coupling stiffness. By the com-parison of theoretical calculation and simulation results, the calculating accuracy of the slider’ s displacement is proved to be improved by the application of the equivalent coupling stiffness formula, and thus the applicability of the equivalent coupling stiffness formula is verified.