Precision Analysis and Verification of A Five-Bar Linkage with Compliant Joints

傳統機構因使用剛性機件，使得機件與機件間的接頭中存在著間隙，造成機構定位精度變差及磨耗等問題。如果機構是以撓性接頭所銜接，則可克服此一問題，獲得較好之定位精度。本研究先分析各種撓性接頭之優缺點，因組合截面型板片式撓性旋轉接頭具有運動範圍大且軸偏位小的優點，故選擇以組合截面型板片式撓性旋轉接頭作為五桿撓性機構之接頭，並將接頭之尺寸進行最佳化，再分析五桿機構之運動學、逆向動力學及工作空間，然後將組合後之五桿撓性機構以有限元素軟體ANSYS進行分析模擬，最後藉由實驗驗證，量測此五桿撓性機構之定位精度，比較模擬與實驗的結果。Due to the manufacturing error or design tolerance, the joint in the traditional mechanism may contain clearance and hence resulting in poor position accuracy and/or wear problem of the mechanism. Thus, mechanisms using compliant joints may overcome such issues. This work investigates the advantages and disadvantages of various compliant joints. Then, a type of compliant joint made of open cross section and a combination of hollow and solid shafts is used in a five-bar mechanism. The position of the mechanism is analyzed and simulated via ANSYS software. Results of force input - displacement output by theoretical calculation and simulation are compared. Finally, an experiment on position input - displacement output is conducted to verify the precision and repeatability of the mechanism