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首页> 外文会议>Conference on device and process technologies for MEMS, microelectronics, and photonics >A simple and efficient dynamic modelling method for compliant micropositioning mechanisms using flexure hinges
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A simple and efficient dynamic modelling method for compliant micropositioning mechanisms using flexure hinges

机译：一种简单高效的动态建模方法，用于柔性铰链的柔顺微定位机制

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摘要

In this paper we consider the dynamic modelling of compliant micropositioning mechanisms using flexure hinges. A simple modelling method is presented that is particularly useful for modelling parallel micropositioning mechanisms. This method is based upon linearisation of the geometric constraint equations of the compliant mechanism. This results in a linear kinematic model, a constant Jacobian and linear dynamic model. To demonstrate the computational simplicity of this methodology it is applied to a four-bar linkage using flexure hinges. Comparisons are made between the simple dynamic model and a complete non-linear model derived using the Lagrangian method. The investigation reveals that this new model is accurate yet computationally efficient and simple to use. The method is then further applied to a parallel 3-degree of freedom (dof) mechanism. It is shown that the method can be simply applied to this more complex parallel mechanism. A dynamic model of this mechanism is desired for use in optimal design and for controller design.
机译：在本文中，我们考虑使用柔性铰链的柔顺微定位机制的动态建模。提出了一种简单的建模方法，其特别适用于建模并行微定位机构。该方法基于兼容机制的几何约束方程的线性化。这导致线性运动模型，恒定的雅可比和线性动态模型。为了展示该方法的计算简单性，它将使用柔性铰链应用于四杆连杆。在简单的动态模型和使用Lagrangian方法导出的完整非线性模型之间进行比较。调查表明，这种新模型准确尚未计算出高效且使用简单。然后将该方法进一步应用于平行3-自由度（DOF）机构。结果表明，该方法可以简单地应用于这种更复杂的并联机制。期望在最佳设计和控制器设计中使用这种机制的动态模型。

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