Kinjatic modhi uye performance kutsvagurudza kweZero Stiffness Cross Reed Flexible Hinge_Heince Ruzivo

Iyo nzira inoshanduka inoshanduka inokatyamadza ipfungwa mumunda wemamita, sezvo ichishandisa iyo elastic gadziriso yezvinhu zvekufambisa kufamba, simba, kana simba. Iyi michina yakawana mukurumbira mumaindasitiri akasiyana-siyana, kusanganisira kugadzirisa, uye kugadzirisa, nekuda kwekushandiswa kwayo kwezero, kushanda pasina, kugadzirisa kwakareruka, nekugadziriswa kwakakura, uye kushamisika kwekugadzirisa.

Nekudaro, iyo tsika yekuomesesa ichiri kutadzira musika nekuda kweimwe miganhu yeiyo inoshanduka mechanism yemuchina. Imwe yeaya macomputer ndeyekugadzikana kwakanaka kunoitika mune iyo inoshanda nhungamiro panguva yekuita kwemuchina. Uku kuomarara kwakanaka kunoda simba rakakura rekutyaira uye zvakanyanyisa zvinodiwa pamutambo, izvo zvakazopedza kuderedza simba rekushandisa simba. Izvi zvikanganiso zvakadzivisa kushandiswa kweiyo yakashanduka yemuchina inoshanduka.

Kukurira zvinokanganisa mhedzisiro yekuomarara kwakanaka, nyanzvi zhinji dzakaunza iyo pfungwa yeZero kuomarara mumuchina unoshanduka. Nekungwarira uchishandisa kusindimara kwakashata kuti ubvise kuomarara kwakanaka, muchina ane zero kuomarara kunogona kuwanikwa. Iyo system, inozivikanwawo seyakajairwa chiyero chechiyero chechisimba, chinogona kuwana huwandu hwekuenzana hwakaenzana pane chero pfungwa mukufamba kwehuwandu. Rudzi urwu rwemuchina runopa zvakati wandei zvakanakira, kusanganisira zvakanakisa simba rekutapisa kuita, kugona kushanda nemauto madiki ekutyaira, uye kukwidziridzwa kwesimba kwakanyanya. Nekuda kweizvozvo, iyo yekutarisa inotarisa mumunda weiyo inoshanduka-chinja chibharo chakabatanidzwa chakanyatsove pane inochinjika micro-clamp.

Pakati pezvikamu zvakasiyana-siyana zvezvikamu zvinoshanduka, marinda anochinjika akawana kutarisisa kwakakosha nekuda kwehunhu hwavo hwekutanga. Kufamba kwehama kweiyo generalised kuyambuka-red inchinjika maHinge kwakapfupika, kuriita kuti vakwanise kukoshesa zvakanyanya zvekushandisa. Nekuda kweizvozvo, zero-stiffness inoshanduka hinge yakavakirwa pachigadzirwa ichi chave sarudzo inodiwa yekuvaka yakaomarara scAnisms, ichiita kuti tsvakiridzo yaro yakakosha.

Kuti uwane zero zero stiffness maitiro mune inochinjika maruva, inodikanwa kuti ibvise kugadzikana kwakanaka kwakanaka nekugadzikana kwekutenderera. Panyaya iyi, iyo inotenderera inotenderera yakaomarara yakagadzirwa. Iyo modhi inosanganisira kushandisa shizha remashizha rinoumbwa nedzimwe maviri pamusoro petsanga, imwe yakatarwa uye imwe yemahara. Kana kusvibiswa kwemugumo kuve kushoma kwakaenzaniswa nekureba kwetsanga, chitubu chinoratidzira mutsara wakanaka uye chinogona kuongororwa se zero-refu-kureba chitubu.

Kuongororwa kweiyo kutenderera kwekutenderera kuomarara kutaura nezvevatengi kwakashandiswa nematsime maviri pane imwe nhanho mune system. Zvichienderana nemutungamiri wetatu, marara anogona kuratidzwa mathematic. Nekubatanidza turints idzi, iyo torque yakazara inoshandiswa pane iyo inogona kutsanangurwa. Ongororo iyi inoratidza kuti apo iyo kona yekutenderera isiri pasi pemadhigirii makumi mapfumbamwe, iyo matsime akashandisa torque nenzira imwecheteyo seinotenderera, nekudaro achigadzira kutenderera kwakatenderera.

Kuti ugadzire zero-zero-stiffness inoshanduka-stiffile modhi, inokosha kuongorora michina yemuchina yeiyo general cross-red inoshanduka inoshanduka. Kuongorora uku kunofunga zvinhu zvakasiyana-siyana senge pesvedzero yeradi simba uye yakachena torsional mutoro pane hingenness yekugadzikana. Nokunzwisisa izvi zvinhu, kusanzwisisika tortional kuomarara kwemahwadhi kunogona kuverengerwa. Iyo conceptual model ye zero-stiffness inoshanduka inoshanduka inogona kuwanikwa nekutsiva iyo yekudzokorora maviri uye mireza matsime mune yekutenderera madhiri ekutenderera. Iyi conceptual modhi ndeyekunyorwa, ichibvumira kuongororwa kwekutenderera kwekutenderera kwepuratifomu yekufamba.

Kuti uone chokwadi cheiyo yerementicial modhi, fungidziro yeElemenising Insiss ichishandisa kupindura software inoitiswa. Ongororo dzinosanganisira kuenzanisa uye kuongorora iyo nguva-kutenderera kona yeiyo zero-stiffness inoshanduka. Mhedzisiro yacho inobva yaenzaniswa neiyo yekuverenga kuverenga. Simulation inoitwa pamaruva akasiyana, uye kusindimara kwechiyero chechirimo chinogadziriswa zvishoma nezvishoma kusvikira kuomesa kwehusiku kunoderedzwa kusvika zero. Nekuenzanisa mikana yekufungidzira uye yekuverenga, inosimbiswa kuti iyo yekufunga yemhando chaiyo inomiririra maitiro eZero-Stiffness inoshanduka.

Uyezve, kutadza kwekushandisa mashizha mashizha seyekukuvara kweZero-kuomarara kuchinjika kunoongororwa. Muenzaniso wakasarudzika wakasarudzika unogadzwa nechinangwa ichi, uye zviwanikwa zvekufungidzira zvinoenzaniswa neaya akawanikwa uchishandisa chibvumirano che144 element. Mhedzisiro yacho zvakare inosimbisa chokwadi uye kuvimbika kwemhando yeiyo yeremerical.

Mukupedzisa, kushandiswa kwekutenderera kwekutenderera kudzikisira kuomarara kwechiitiko kuchinjika kunobvumidza kusikwa kwekugadzirwa kwe zero-stiffness inoshanduka-silxics. Iyi masisitimu inopa zvizhinji zvakanaka, kusanganisira yakaderedzwa kutyaira torque, yakavandudzwa simba rekutapudza kuita, uye kuwedzera simba kushandisa kushanda zvakanaka. Nzira mbiri dzakasiyana siyana, dzakarongeka zviviri zviyero zvitubu uye imwe chete zviyero zvitubu, zvinoongororwa, uye yavo mamiriro emamiriro ezvinhu akaenzana anotemwa. Mhedzisiro yezviratidzo zvinobva yasimbiswa kuburikidza nekupedza kuongororwa kwelement. Chidzidzo chacho chinosimbisa kuti iyo yakapetwa kaviri spring Spring nzira inokodzera mamiriro ezvinhu apo simba radial harina kuomarara kweHinge Nekudaro, iyo yekupedzisira yemhando yeiyo yexial nzvimbo yekukonzeresa kwakakanganisika, zvichiita kutarisisa kutarisisa kwekugadzirwa kwechimiro. Zvakawanda, kutsvagisa kweZero-kuomarara zvinochinja zvinoshanduka uye zvikumbiro zvavo zvinobata kukosha kukuru mukufambisira mberi munda wezvishandiso zvinoshanduka.