【作者】 宋美江；

【导师】 洪鹰；

【作者基本信息】 天津大学 ， 机械电子工程， 2004， 硕士

【摘要】 本文主要围绕天津大学智能机械研究所承担的国防科工委的项目—柔性腕，致力于解决海军潜艇导弹发射系统在导弹发射时导弹电插头插拔易失效的问题，对复合型柔性腕的开发、设计及柔性腕的产品化途径进行了深入的研究。首先基于理论力学和材料力学对被动柔顺RCC手腕及其层叠型弹性元件(又称弹性体，简称ESP)进行了特性分析，其次在进一步考虑结构非线性因素的条件下，讨论了有限元法在RCC柔性腕的结构变形仿真及计算中的应用。在此基础上，针对项目提出单位对柔性腕的性能使用要求，对普通的RCC柔顺手腕进行了结构创新，开发设计了复合型柔顺手腕，大大提升了柔性腕的性能范围和可靠性。另外，本文还实现了柔性腕生产或制造工艺的新方案——弹性元件热模压成型法，不仅提高了柔性腕的生产效率，同时也提高了柔性腕产品的可靠性。这也是柔性腕产品化的重要途径之一。最后，利用项目组同步研制的柔性腕综合性能实验台，对用热模压成型法制成的多组弹性元件的拉、压性能进行了实验、分析、比较和总结，从而为复合型柔性腕的结构设计提供了可靠的依据。同时，对RCC柔性腕的刚度矩阵进行了测试，对理论公式和有限元仿真方法的有效性进行了验证。更多还原

【Abstract】 In this paper, development and design of complex compliant wrists, as well as industrialized approaches of compliant wrists, are researched around the Compliant Wrist project from National Defense Technology Industry Committee, dedicated to solve problem of plugging-pulling failure of eletronical plug before launching of missile for submarines of our navy. First, performance characteristics of passively compliant RCC wrist and its main components--laminated elastomer (also named elastic shear pads or ESP) are analyzed based on mechanics of materials. Second, application of finite element method in deformation simulation and stiffness calculation of RCC compliant wrists, which further considers the factor of nonlinear structure, is discussed. Then, a creative innovation in configuration of general RCC compliant wrist is brought forward and carried out, which will greatly improve performance range and reliability of the wrists.In addition, a new method of manufacturing ESP named HPMS (Hot Rubber Mould Shaping) is carried out in this paper, which is also an important approach of carrying out industrialization of compliant wrists improving not only production efficiency but also reliability and quality of RCC wrist products.At last, using the comprehensive performance testing equipment of compliant wrists developed by the project team at the same time, several groups of ESP made in HPMS method are experimented on their tension and compression performance. And, the experimental results are analyzed, compared and summarized so as to find out whether they show good consistency on performance and provide reliable references for the configuration design of compliant wrists. Also, a RCC compliant wrist with certain designing parameters is tested on its stiffness matrix to verify the effectiveness of theoretic formula and simulation results by finite element method.更多还原