Publicación: Análisis de juntas flexibles de eje único para su aplicación en configuraciones mecánicas espaciales de lazo cerrado
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2024-10-22
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info:eu-repo/semantics/openAccess
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Universidad Nacional de Educación a Distancia (España), Universidad de Concepción - Chile. Departamento de Ingeniería Mecánica
Resumen
En este trabajo se estudian las juntas flexibles de eje único con miras a su implementación en configuraciones espaciales de lazo cerrado en las que predominan las juntas de par inferior. Se revisaron distintos perfiles de juntas flexibles de eje único reportados en la literatura, se analizaron, vía elemento finito, y se sometieron a pruebas de carga por flexión con el propósito de discriminar aquellos perfiles propensos a fallar. Se seleccionó el perfil con el mejor desempeño y se centró su análisis como elemento elástico, se obtuvo la rigidez en cada eje traslacional y rotacional y se consideraron dos materiales. Se implementó en una configuración espacial de lazo cerrado de 3 grados de libertad, vía software, y se especificaron propiedades de masa y momentos de inercia. Si bien, se comprobó que las juntas flexibles otorgaron una mayor rigidez a la estructura mecánica, no se puede recomendar su implementación categóricamente en estructuras espaciales de lazo cerrado en las que se requiere proporcionar un recorrido deseado para el efector final al accionar uno o más actuadores.
In this work, single-axis flexible joints are studied with the purpose of applying them in closed-loop spatial configurations in which revolute pairs dominate. Different options of single-axis flexible joints reported in the literature were reviewed. They were analyzed, via finite element method, and subjected to bending load tests with the purpose to separate those profiles prone to failure. The profile with the best result was selected and its analysis was focused as an elastic element, obtaining the rigidity in each translational and rotational axis taking into account two materials. It was implemented in a 3-degree-of-freedom closed-loop spatial configuration, via software, and mass properties and moments of inertia were specified. Although it was proven that flexible joints provided greater rigidity to the mechanical structure, their implementation cannot be recommended in closedloop spatial structures in which it is required to provide a desired path for the end-effector of the mechanism by actuating one or more joint motors.
In this work, single-axis flexible joints are studied with the purpose of applying them in closed-loop spatial configurations in which revolute pairs dominate. Different options of single-axis flexible joints reported in the literature were reviewed. They were analyzed, via finite element method, and subjected to bending load tests with the purpose to separate those profiles prone to failure. The profile with the best result was selected and its analysis was focused as an elastic element, obtaining the rigidity in each translational and rotational axis taking into account two materials. It was implemented in a 3-degree-of-freedom closed-loop spatial configuration, via software, and mass properties and moments of inertia were specified. Although it was proven that flexible joints provided greater rigidity to the mechanical structure, their implementation cannot be recommended in closedloop spatial structures in which it is required to provide a desired path for the end-effector of the mechanism by actuating one or more joint motors.
Descripción
Organizado y patrocinado por: Federación iberoamericana de Ingeniería Mecánica y Universidad de Concepción - Chile. Departamento de Mecánica, FeIbIm – FeIbEM
Categorías UNESCO
Palabras clave
juntas flexibles, máquina cinemática paralela, mecanismos compatibles, rigidez, lexure hinges, compliant mechanism, parallel kinematic machine, stiffness
Citación
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Centro
E.T.S. de Ingenieros Industriales
Departamento
Mecánica