Imodeli ye-kinematic kanye nocwaningo lokusebenza lwe-zero ukuqina kwesiphambano mhlanga oluguquguqukayo oluguquguqukayo hinge_hingre ulwazi

Indlela eguquguqukayo ingumqondo oyisisekelo emkhakheni wamakhenikha, njengoba isebenzisa ukuguquguquka kokunwebeka kwezinto ezizodlulisela ukunyakaza, amandla, noma amandla. Le ndlela ithole ukuthandwa emikhakheni ehlukahlukene, okubandakanya ukuma kwengqondo, ukucubungula ama-MEMS, kanye nezinzuzo eziningi ezinjengezinzuzo zayo ezinjenge-zero, ukusebenza okungekho emthethweni, ukulungiswa okuphezulu, namandla ahlanganisiwe wokucubungula.

Kodwa-ke, izindlela eziqinile zendabuko zisabusa imakethe ngenxa yokulinganiselwa okuthile kwendlela eguquguqukayo. Enye yalokhu kulinganiselwa ukuqina okuhle okwenzeka endaweni esebenzayo ngesikhathi sesenzo sendlela. Lokhu kuqina okuhle kudinga amandla amakhulu okushayela kanye nezidingo eziqinile kumshayeli, okugcina kunciphisa ukusebenza kahle kwamandla. Lokhu ukushiyeka kuvimbele ukusetshenziswa okubanzi kwendlela eguquguqukayo.

Ukunqoba imiphumela emibi yokuqina okuhle, izazi eziningi ziye zangenisa umqondo wokuqina kwe-zero endaweni eguqukayo. Ngobuhlakani besebenzisa ukuqina okungalungile ukulungisa ukuqina okuhle, indlela enobuqili be-zero ingafinyelelwa. Uhlelo olunjalo, owaziwa nangokuthi indlela eguquguqukayo ye-static blansism, angafinyelela isimo esilinganayo se-static nganoma yisiphi isikhathi kububanzi bokuhamba. Lolu hlobo lwendlela lunikeza izinzuzo eziningana, kufaka phakathi ukusebenza okuhle kakhulu kokusebenza, amandla okusebenza namandla amancane okushayela, nokusebenza kahle kwamandla aphezulu. Ngenxa yalokho, ukugxila kokucwaninga emkhakheni wezindlela eziguquguqukayo ze-static brain mechanis kusekubuye kube nezimo eziguqukayo ezincane.

Phakathi kwezinto ezahlukahlukene zezindlela eziguqukayo, ama-hinges aguqukayo athole ukunakwa okubalulekile ngenxa yezimpawu zawo ezihlukile. Ukuhamba okuhlobene kwama-hinge aguquguqukayo aguquguqukayo aguquguqukayo akufushane, kubenza babaluleke kakhulu ezinhlobonhlobo zezicelo. Ngenxa yalokho, i-zero-stufness adviff hinge esuselwa kulo mklamo sekuyindlela ekhethwayo yokwakha izindlela eziyinkimbinkimbi ze-stable star, okwenza ucwaningo lwalo lubaluleke kakhulu.

Ukufeza izici zokuqina ezi-zero ezinama-hinges eziguquguqukayo, kuyadingeka ukulungisa ukuqina okuhle kokuqina ngokuqina kokuqina. Kulokhu, imodeli yokuqina ejikelezayo ejikelezayo iye yathuthukiswa. Imodeli ifaka ukusebenzisa i-Leaf Spring eyakhiwe ngemihlanga emibili egcwele, enye ilungisiwe futhi enye mahhala. Lapho i-deformation yokuvula okuvulwayo incane kancane uma iqhathaniswa nobude bomhlanga, intwasahlobo ikhombisa ukuqondisisa okuhle futhi ingahlaziywa njengentwasahlobo yobude be-zero.

Ukuhlaziywa kwemodeli yokuqina yokuqina okujikelezayo kubheka ama-torques asetshenziswe yimithombo emibili endaweni ethile ohlelweni. Ngokusekelwe emthethweni osizwe onxantathu, ama-torques angavezwa ngokwezibalo. Ngokuhlanganisa lezi zimpi, i-torque ephelele esetshenziselwe iphuzu kunganqunywa. Lokhu kuhlaziywa kuveza ukuthi lapho i-angle yokujikeleza ingaphansi kwama-degree angama-90, iziphethu zisebenzisa i-torque ngendlela efanayo ne-angle ejikelezayo, ngaleyo ndlela edala ukuqina okungekho emthethweni.

Ukusungula imodeli ye-Whinge enezinkulumo enembile, kubalulekile ukuhlaziya izakhiwo zemishini zeHinge eguquguqukayo eguquguqukayo. Lokhu kuhlaziywa kubandakanya izici ezahlukahlukene ezifana nethonya lamandla we-radial kanye nomthwalo we-torsional wokuqina kwe-hinge. Ngokuqonda lezi zinto, ukuqina kokuqina kwama-hinges kungabalwa. Imodeli ye-Conceptual ye-zero-strifness aflefible hinge ingatholwa ngokufaka esikhundleni sokuvuselela kanye ne-Balance Springs kwimodeli yokuqina evumayo yokuqina. Le modeli ye-concual i-symmetrical, ivumela ukuhlaziywa kokujikeleza kwe-counterclockwise yepulatifomu ehambayo.

Ukuqinisekisa ukunemba kwemodeli ye-theoretical, ukuhlaziywa kwe-Finete element Kusetshenziswa isoftware ye-Ansys. Ukuhlaziywa kufaka phakathi ukulingisa nokuhlaziya izici ze-angle ezenzakalelayo ze-zero-stufness hinge eguquguqukayo. Imiphumela bese iqhathaniswa nokubala kwethiyori. Ukulingiswa kwenziwa kuma-hinges anamapharamitha ahlukene, futhi ukuqina kwe-Balance Spring kuyashintshwa kancane kancane kuze kube yilapho ukuqina kwe-hinge kuncishiswe ku-zero. Ngokuqhathanisa imiphumela yokulingisa nokubalwa kwethiyori, kuqinisekiswa ukuthi imodeli yethiyori imele ngokunembile ukuziphatha kwe-zero-strifness hinge eguquguqukayo.

Ngaphezu kwalokho, kungenzeka ukuthi kusetshenziswe amaqabunga amaqabunga njenge-Balance Springs in zero-strifness hinges eziguqukayo ziyahlolwa. Imodeli yesekhi ye-Fination isungulwe ngale njongo, futhi imiphumela yokulingisa iqhathaniswa naleyo etholakele esebenzisa into ehlanganisiwe. Imiphumela ibuye iqinisekise ukunemba nokuthembela kwemodeli yethiyori.

Ekuphetheni, ukusetshenziswa kokuqina kokuqina okungemuhle ukulungisa ukuqina okuhle ezindaweni eziguqukayo ezivumela ukudala izinhlelo ze-zero-strifness eguqukayo. Lezi zinhlelo zinikeza izinzuzo eziningi, kufaka phakathi i-torque yokushayela encishisiwe, ukusebenza okuthuthukile kokusebenza kwamandla, kanye nokukhulisa amandla okusetshenziswa kwamandla. Izindlela ezimbili zokulinganisa ezihlukile, okungukuthi okungukuthi iziphethu eziphindaphindeke kabili kanye neziphetho ezilinganayo ezilinganayo, ziyahlaziywa, futhi izimo zazo ezilinganayo zinqunywa. Imiphumela yethiyori iqinisekiswa ngokuhlaziywa kwe-Fination. Ucwaningo luqinisekisa ukuthi indlela ye-Double Balance Spring Indlela ilungele izimo lapho amandla e-radial athinti ukuqina kwe-hinge, kanti imodeli ye-linge eyodwa inezinhlobo ezibanzi zezicelo. Kodwa-ke, ukuhlanganiswa kwe-axial ye-axial ye-axial ye-axial kuthe xaxa, kudinga ukucatshangelwa okuningana ngesikhathi sokwakhiwa kwesakhiwo. Sekukonke, ucwaningo nge-zero-strifness hinges eziguquguqukayo futhi izicelo zazo zibaluleke kakhulu ekuthuthukiseni insimu yezindlela eziguqukayo.