CN112682488A - State non-sequential flexible tristable mechanism - Google Patents
State non-sequential flexible tristable mechanism Download PDFInfo
- Publication number
- CN112682488A CN112682488A CN202011565623.5A CN202011565623A CN112682488A CN 112682488 A CN112682488 A CN 112682488A CN 202011565623 A CN202011565623 A CN 202011565623A CN 112682488 A CN112682488 A CN 112682488A
- Authority
- CN
- China
- Prior art keywords
- flexible
- beams
- sequential
- tristable
- driving block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention belongs to the field of compliant mechanisms, and relates to a state non-sequential flexible tristable mechanism, which is characterized in that: the flexible three-stable-state mechanism at least comprises a fixed frame, a driving block, a motion output block, a flexible fixed guide beam, a flexible central beam and two flexible connecting beams, and a state non-sequential flexible three-stable-state mechanism is formed by utilizing the buckling characteristic of the flexible beams. The invention has simple integral structure design and convenient assembly, can realize the potential self-holding at three different positions and does not need the input of external energy. The three different steady state position transitions are non-sequential, i.e., any two steady state positions can jump to each other and not in sequence. The flexible beams of the invention have strong replaceability, can be stabilized at different stable positions by changing the size, distribution and number of the flexible beams, can generate motion output vertical to the motion input direction, has large motion range, and is suitable for various limited spaces.
Description
Technical Field
The invention belongs to the field of machinery, and particularly relates to a state non-sequential flexible tristable mechanism.
Background
The tristable mechanism can realize potential self-holding at three different positions without external energy input, thereby being widely applied to various fields and occasions, such as various threshold switches and the like.
At present, the jumping of the stable states of all flexible tristable mechanisms has continuity, namely, the mutual jumping between any two stable states can not be realized, and the third state is not passed through, so that the practical application condition is difficult to meet in some special occasions.
Disclosure of Invention
The present invention aims at solving the above problems by providing a state non-sequential flexible tristable mechanism, which can stabilize the motion output block at different steady-state positions, and the motion positions can be designed according to requirements, and can be applied to various limited spaces.
The technical scheme adopted by the invention is as follows: a state non-sequential flexible tristable mechanism at least comprises a fixed frame, a driving block, a motion output block, a flexible fixed guide beam, a flexible central beam and two flexible connecting beams; the two overhanging end parts of the fixed frame are respectively connected with two parallel flexible connecting beams, the other ends of the two flexible connecting beams are connected with a motion output block, and the motion output block, the fixed frame and the flexible connecting beams form a rectangle under a static no-load output state;
the left and right inner sides of two overhanging ends of the fixed frame are connected with a flexible fixed guide beam, the middle of the flexible fixed guide beam is connected with a driving block, and the driving block and the motion output block are connected through a flexible central beam, so that the flexible central beam is parallel to the two flexible connecting beams.
The fixed frame, the driving block and the flexible fixed guide beam form a bistable mechanism, and the flexible central beam, the flexible connecting beam and the motion output block are orthogonally connected on the basis of the bistable mechanism to form a state non-sequential flexible tristable mechanism.
The flexible fixed guide beams are divided into two groups, n (n is a positive integer) can be arranged in each group, the flexible fixed guide beams in each group are parallel and have a certain included angle with the motion direction of the driving block, and the two groups of flexible fixed guide beams are symmetrically arranged on two sides of the outside of the driving block by taking the motion direction of the driving block as an axis.
The fixed frame, the driving block and the flexible fixed guide beams form a bistable mechanism, and any number of the flexible fixed guide beams can be selected on the premise of ensuring the bistable effect.
The fixed frame, the driving block and the motion output block are rigid bodies, the fixed frame plays a role in fixed connection, and the fixed frame, the driving block and the motion output block can be in any shape such as a U-shaped opening shape, a rectangle shape, a trapezoid shape, a semicircle shape and the like on the premise of ensuring that the flexible beam can deform.
The flexible fixed guide beam, the flexible central beam and the two flexible connecting beams are elastic elements which have small elastic modulus and are easy to deform in the direction, have the function of buckling deformation after stress, and can be in any shape such as flat strips, sheets, thin cylinders and the like on the premise of ensuring that the buckling deformation occurs in the direction.
The deformation plane of the flexible fixed guide beam is vertical to the movement plane of the driving block, the deformation planes of the flexible central beam and the two flexible connecting beams are parallel to the movement plane of the driving block, namely the deformation planes of the flexible fixed guide beam and the flexible central beam and the deformation planes of the two flexible connecting beams are orthogonal, and the structure generates space deformation by utilizing the two orthogonal deformation planes.
The length of the flexible central beam and the length of the flexible connecting beam have a difference value, and the difference value can be positive or negative, namely the flexible central beam can be longer than the flexible connecting beam and can also be shorter than the flexible connecting beam.
The connection between the two ends of the flexible connecting beam and the fixed frame and the motion output block, the connection between the two ends of the flexible central beam and the driving block and the motion output block, and the flexible fixed guide beam) and the connection between the two ends of the flexible connecting beam and the driving block and the fixed frame should be understood in a broad sense, for example, the flexible connecting beam can be fixedly connected, also can be detachably connected, hinged, or integrally connected.
The fixed frame, the driving block and the flexible fixed guide beam form a bistable mechanism, the flexible central beam, the flexible connecting beam and the motion output block are orthogonally connected on the basis of the bistable mechanism, the driving block can move to drive the flexible fixed guide beam to deform to reach the other stable position, and simultaneously drive the flexible central beam and the flexible connecting beam to buckle and deform to enable the motion output block to reach the other two stable positions, bending moment is applied to the motion output block to switch between the stable positions where the two flexible beams deform, and the driving block can return to the initial position to return to the initial stable position where the flexible beams do not deform, so that the state non-sequential flexible three-stable mechanism is formed.
The deformation plane formed by the flexible central beam and the flexible connecting beam is vertical to the deformation plane of the flexible fixed guide beam, namely the displacement directions of the motion input end driving block and the motion output block are vertical, and the structure generates space deformation by utilizing the two vertical deformation planes.
The movement output range of the invention is adjustable, the movement output block can be stabilized at different stable positions by changing the number, size and distribution of the flexible beams, including the flexible fixed guide beam, the flexible central beam and the two flexible connecting beams, and the movement position can be designed according to requirements, thus being applicable to various limited spaces.
Compared with the prior art, the invention has the beneficial effects that:
the invention has simple integral structure and convenient assembly, can realize the potential self-holding at three different positions and does not need the input of external energy.
The three different steady state position transitions of the present invention are non-sequential, i.e., any two steady state positions can jump to each other and not in sequence.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the initial state of the push-type structure of the present invention;
FIGS. 2a and 2b are schematic views of the push structure of the present invention in a tristable state;
FIG. 3 is a schematic view of the initial state of the pull configuration of the present invention;
fig. 4a and 4b are schematic diagrams of the pulling structure tristable state of the invention.
The reference numerals are explained below: 1. a fixed frame; 2. a drive block; 3. a motion output block; 4. flexibly fixing the guide beam; 5. a flexible central beam; 6. and the flexible connecting beam.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
example 1
As shown in fig. 1, a state non-sequential flexible tristable mechanism at least comprises a fixed frame 1, a driving block 2, a motion output block 3, a flexible fixed guide beam 4, a flexible central beam 5 and two flexible connecting beams 6; the fixed frame 1 is of a U-shaped opening structure, two extending end parts of the U-shaped opening are respectively connected with two parallel flexible connecting beams 6 in an extending mode, the other ends of the two flexible connecting beams 6 are connected with the motion output block 3, and the motion output block 3, the fixed frame 1 and the two flexible connecting beams 6 form a rectangle in a static no-load output state;
the inner side portion about the U type opening overhanging end of fixed frame 1 connects flexible fixed guide beam 4, and fixed guide beam 4 intermediate junction has drive block 2, connects through flexible central beam 5 between drive block 2 and the motion output piece 3, makes flexible central beam 5 and two flexible coupling beam 6 parallel.
The flexible fixed guide beams 4 connected with the left inner side part and the right inner side part of the U-shaped opening of the fixed frame 1 are four, two flexible fixed guide beams are in a group and have a certain included angle with one axis of the driving block 2, and the two flexible fixed guide beams 4 are symmetrically arranged on two sides of the driving block 2 to use the other axis of the driving block 2 as a symmetrical shaft.
The four flexible fixed guide beams 4 are in flat strip structures, and the flat surfaces of the four flexible fixed guide beams 4 are perpendicular to the motion plane of the driving block 2. The flexible central beam 5 and the two flexible connecting beams 6 are of flat strip structures, and the flat surfaces of the flexible central beam 5 and the two flexible connecting beams 6 are parallel to the motion plane of the driving block 2.
The overhanging end of the U-shaped opening of the fixed frame 1 is connected with two parallel flexible connecting beams 6, the other ends of the two parallel flexible connecting beams 6 are connected with the motion output block 3, and the motion output block 3, the fixed frame 1 and the two flexible connecting beams 6 form a rectangle under a static no-load output state.
The flexible central beam 5 is longer than the flexible connecting beam 6, so that the driving block 2 pushes the flexible central beam 5 to start moving, and a pushing structure is formed.
The invention combines a fixed frame 1, a driving block 2 and four flexible fixed guide beams 4 into a bistable mechanism, in the initial position shown in fig. 1, the driving block 2 pushes the flexible central beam 5 to move towards the direction of the motion output block 3, the driving block 2 drives the four flexible fixed guide beams 4 to move, the four flexible fixed guide beams 4 flex, the driving block 2 jumps to another stable state by utilizing the flexing characteristics of the flexible fixed guide beams, meanwhile, the driving block 2 pushes the flexible central beam 5 to deform and bend, and a tiny force is applied to the easy deformation direction of the flexible central beam 5 to select the motion output direction, under the action of bending deformation pushing of the flexible central beam 5 and length constraint of the flexible connecting beam 6, the motion output block 3 can generate deflection perpendicular to the motion plane of the driving block 2 to reach a second stable position, as shown in fig. 2a or fig. 2 b. Both steady-state positions shown in fig. 2a or fig. 2b are reached by pushing the drive block 2, the reached steady-state position being selected by the direction of the minor force. The conversion of the two steady-state positions is realized by applying bending moment to the motion output block 3, namely in the steady-state position shown in fig. 2a or b, the motion output block 3 is rotated in the opposite direction of the bending deformation of the flexible central beam 5, namely, the motion output block can jump to the steady-state position shown in fig. 2b or 2a, so that the whole mechanism can realize three steady-state positions.
The conversion of the three steady-state positions is non-sequential, i.e., any two steady-state positions can jump to each other and not in sequence.
Example 2
As shown in fig. 3, a state non-sequential flexible tristable mechanism at least comprises a fixed frame 1, a driving block 2, a motion output block 3, a flexible fixed guide beam 4, a flexible central beam 5 and two flexible connecting beams 6; the fixed frame 1 is of a U-shaped opening structure, two extending end parts of the U-shaped opening are respectively connected with two parallel flexible connecting beams 6 in an extending mode, the other ends of the two flexible connecting beams 6 are connected with the motion output block 3, and the motion output block 3, the fixed frame 1 and the two flexible connecting beams 6 form a rectangle in a static no-load output state;
the inner side portion about the U type opening overhanging end of fixed frame 1 connects flexible fixed guide beam 4, and fixed guide beam 4 intermediate junction has drive block 2, connects through flexible central beam 5 between drive block 2 and the motion output piece 3, makes flexible central beam 5 and two flexible coupling beam 6 parallel.
The flexible fixed guide beams 4 connected with the left inner side part and the right inner side part of the U-shaped opening of the fixed frame 1 are four, two flexible fixed guide beams are in a group and have a certain included angle with one axis of the driving block 2, and the two flexible fixed guide beams 4 are symmetrically arranged on two sides of the driving block 2 to use the other axis of the driving block 2 as a symmetrical shaft.
The four flexible fixed guide beams 4 are in flat strip structures, and the flat surfaces of the four flexible fixed guide beams 4 are perpendicular to the motion plane of the driving block 2. The flexible central beam 5 and the two flexible connecting beams 6 are of flat strip structures, and the flat surfaces of the flexible central beam 5 and the two flexible connecting beams 6 are parallel to the motion plane of the driving block 2.
The overhanging end of the U-shaped opening of the fixed frame 1 is connected with two parallel flexible connecting beams 6, the other ends of the two parallel flexible connecting beams 6 are connected with the motion output block 3, and the motion output block 3, the fixed frame 1 and the two flexible connecting beams 6 form a rectangle under a static no-load output state.
The flexible central beam 5 is shorter than the flexible connecting beam 6, so that the driving block 2 pulls the flexible central beam 5 to start moving, and a pull type structure is formed.
Also, the fixed frame 1, the driving mass 2 and the flexible fixing-guiding beam 4 constitute a bistable mechanism, in the initial position shown in fig. 3, the driving block 2 pulls the flexible central beam 5 to move towards the direction far away from the movement output block 3, the driving block 2 drives the four flexible fixed guide beams 4 to move, the four flexible fixed guide beams 4 flex, the driving block 2 jumps to another stable state by utilizing the flexing characteristics of the flexible fixed guide beams, meanwhile, the driving block 2 pulls the flexible central beam 5 to deform and bend, and a slight force is applied to the easily deformable direction of the flexible central beam 5 to select the motion output direction, under the action of the bending deformation pulling of the flexible central beam 5 and the length constraint of the flexible connecting beam 6, the motion output block 3 can generate deflection perpendicular to the motion plane of the driving block 2 to reach a second stable position, as shown in fig. 4a or fig. 4 b. Both steady-state positions, shown in fig. 4a or 4b, are reached by pulling the drive block 2, the reached steady-state position being selected by the direction of the slight force. The conversion of the two steady-state positions is realized by applying bending moment to the motion output block 3, namely, in the steady-state position shown in fig. 4a or 4b, the motion output block 3 is rotated in the opposite direction of the bending deformation of the flexible central beam 5, namely, the motion output block can jump to the steady-state position shown in fig. 4b or 4a, so that the whole mechanism can realize three steady-state positions.
The conversion of the three steady-state positions is non-sequential, i.e., any two steady-state positions can jump to each other and not in sequence.
Example 3
Referring to fig. 1 and 3, a state non-sequential flexible tristable mechanism at least comprises a fixed frame 1, a driving block 2, a motion output block 3, a flexible fixed guide beam 4, a flexible central beam 5 and two flexible connecting beams 6; the fixed frame 1 is of a semicircular opening structure, the end parts of two ends of a semicircular opening part are respectively connected with two parallel flexible connecting beams 6 in an extending mode, and the other ends of the two flexible connecting beams 6 are connected with the motion output block 3;
the inner side portion is connected with flexible fixed guide beam 4 about the semicircular oral area, and flexible fixed guide beam 4 intermediate junction has drive block 2, connects through flexible central roof beam 5 between drive block 2 and the motion output piece 3, makes flexible central roof beam 5 and two flexible coupling roof beams 6 parallel.
The two flexible fixed guide beams 4 connected with the left inner side part and the right inner side part of the semicircular mouth part are provided, the two fixed guide beams 4 have certain included angles with one axis of the driving block 2, and the two fixed guide beams 4 are arranged on two sides of the driving block 2 by taking the axis of the driving block 2 as a symmetrical axis.
The two flexible fixed guide beams 4 are in flat strip structures, and the flat surfaces of the two flexible fixed guide beams are perpendicular to the motion plane of the driving block 2.
The flexible central beam 5 and the two flexible connecting beams 6 are of flat strip structures, and the flat surfaces of the flexible central beam 5 and the two flexible connecting beams 6 are parallel to the motion plane of the driving block 2.
The flexible central beam 5 is shorter than the flexible connecting beam 6, or the flexible central beam 5 is longer than the flexible connecting beam 6. Achieving three steady-state positions can be seen in fig. 2 and 4.
The invention forms a pull type structure or a push type structure by changing the length structure ratio of the flexible central beam 5 and the flexible connecting beam 6, has simple integral structure and good stability, can design the motion position according to the requirement, and is suitable for various limited spaces.
The deformation plane formed by the flexible central beam 5 and the flexible connecting beam 6 in the invention is vertical to the deformation plane of the flexible fixing-guiding beam 4, and the structure generates space deformation by using the two deformation planes.
Claims (9)
1. A state non-sequential flexible tristable mechanism at least comprises a fixed frame (1), a driving block (2), a motion output block (3), a flexible fixed guide beam (4), a flexible central beam (5) and two flexible connecting beams (6); the two extending end parts of the fixed frame (1) are respectively connected with two parallel flexible connecting beams (6), the other ends of the two flexible connecting beams (6) are connected with the motion output block (3), and the motion output block (3), the fixed frame (1) and the flexible connecting beams (6) form a rectangle in a static no-load output state;
the left and right inner sides of two overhanging ends of the fixed frame (1) are connected with flexible fixed guide beams (4), the middle of each flexible fixed guide beam (4) is connected with a driving block (2), and the driving block (2) and the motion output block (3) are connected through a flexible central beam (5), so that the flexible central beam (5) is parallel to the two flexible connecting beams (6).
2. A state non-sequential flexible tristable mechanism according to claim 1 characterised in that the fixed frame (1), the driving block (2) and the flexible fixed guiding beam (4) form a bistable mechanism, on the basis of which the flexible central beam (5), the flexible connecting beam (6) and the motion output block (3) are orthogonally connected to form a state non-sequential flexible tristable mechanism.
3. A state non-sequential flexible tristable mechanism according to claim 1 characterised in that the flexible fixed guide beams (4) are divided into two groups, each group can have n (n is a positive integer), the flexible fixed guide beams in each group are parallel and have a certain included angle with the motion direction of the driving block (2), and the two groups of flexible fixed guide beams are symmetrically arranged on both sides of the outside of the driving block (2) by taking the motion direction of the driving block (2) as an axis.
4. A state non-sequential flexible tristable mechanism according to claim 1 wherein the fixed frame (1), the driving block (2) and the flexible fixed guiding beams (4) form a bistable mechanism, and the number of the flexible fixed guiding beams (4) can be any number on the premise of ensuring the bistable effect.
5. A state non-sequential flexible tristable mechanism according to claim 1 characterised in that the fixed frame (1), the driving block (2) and the motion output block (3) are rigid bodies, the fixed frame (1) acts as a fixed connection, and the fixed frame (1), the driving block (2) and the motion output block (3) may take any shape such as "U" shaped open, rectangular, trapezoidal, semi-circular etc. while ensuring that the flexible beam is deformable.
6. A state non-sequential flexible tristable mechanism according to claim 1 wherein the flexible fixed guide beam (4), the flexible central beam (5) and the two flexible connecting beams (6) are elastic elements with small elastic modulus in the said direction and are easily deformable, and have the function of buckling deformation after being stressed, and the shape can be any shape such as flat strip, sheet, thin cylinder and the like on the premise of ensuring that the buckling deformation can be generated in the said direction.
7. A state non-sequential flexible tristable mechanism according to claim 1 wherein the plane of deformation of the flexible fixed guide beam (4) is perpendicular to the plane of movement of the drive mass (2) and the planes of deformation of the flexible central beam (5) and the two flexible attachment beams (6) are parallel to the plane of movement of the drive mass (2), i.e. the plane of deformation of the flexible fixed guide beam (4) is orthogonal to the planes of deformation of the flexible central beam (5) and the two flexible attachment beams (6), with the two orthogonal planes of deformation causing spatial deformation of the structure.
8. A state non-sequential flexible tristable mechanism according to claim 1 wherein the length of the flexible central beam (5) and the length of the flexible connecting beam (6) have a difference which may be positive or negative, i.e. the flexible central beam (5) may be longer than the flexible connecting beam (6) and the flexible central beam (5) may be shorter than the flexible connecting beam (6).
9. A state non-sequential flexible tristable mechanism according to claim 1 wherein the connection between the two ends of the flexible linkage beam (6) and the fixed frame (1) and the motion output mass (3), the connection between the two ends of the flexible central beam (5) and the drive mass (2) and the motion output mass (3), and the connection between the two ends of the flexible fixed guide beam (4) and the drive mass (2) and the fixed frame (1) are to be understood in a broad sense, e.g. they may be fixed, detachable, hinged, or integrally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011565623.5A CN112682488B (en) | 2020-12-25 | 2020-12-25 | State non-sequential flexible tristable mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011565623.5A CN112682488B (en) | 2020-12-25 | 2020-12-25 | State non-sequential flexible tristable mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112682488A true CN112682488A (en) | 2021-04-20 |
| CN112682488B CN112682488B (en) | 2022-02-25 |
Family
ID=75453287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011565623.5A Active CN112682488B (en) | 2020-12-25 | 2020-12-25 | State non-sequential flexible tristable mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112682488B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2421755A1 (en) * | 2000-09-11 | 2002-03-21 | Scott Lyon | Dual position linear displacement micromechanism |
| US20040183632A1 (en) * | 2001-06-15 | 2004-09-23 | Larry Howell | Self-retracting fully compliant bistable micromechanism |
| CN101335137A (en) * | 2008-07-30 | 2008-12-31 | 西安电子科技大学 | Planar flexible tri-steady mechanism |
| CN101798052A (en) * | 2010-04-15 | 2010-08-11 | 西安电子科技大学 | Fully compliant tetra-stable mechanism and implementation method thereof |
| CN101837947A (en) * | 2010-05-14 | 2010-09-22 | 西安电子科技大学 | Multistable mechanism realizing method based on single bistable mechanism and external characteristics thereof |
| CN102496497A (en) * | 2011-11-22 | 2012-06-13 | 西安电子科技大学 | Rotary type partially compliant multi-stable mechanism |
-
2020
- 2020-12-25 CN CN202011565623.5A patent/CN112682488B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2421755A1 (en) * | 2000-09-11 | 2002-03-21 | Scott Lyon | Dual position linear displacement micromechanism |
| US20040183632A1 (en) * | 2001-06-15 | 2004-09-23 | Larry Howell | Self-retracting fully compliant bistable micromechanism |
| CN101335137A (en) * | 2008-07-30 | 2008-12-31 | 西安电子科技大学 | Planar flexible tri-steady mechanism |
| CN101798052A (en) * | 2010-04-15 | 2010-08-11 | 西安电子科技大学 | Fully compliant tetra-stable mechanism and implementation method thereof |
| CN101837947A (en) * | 2010-05-14 | 2010-09-22 | 西安电子科技大学 | Multistable mechanism realizing method based on single bistable mechanism and external characteristics thereof |
| CN102496497A (en) * | 2011-11-22 | 2012-06-13 | 西安电子科技大学 | Rotary type partially compliant multi-stable mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 勾燕洁等: "一种全柔顺六稳态机构的设计", 《机械工程学报》 * |
| 李博等: "《电活性双稳态机构及其在软体机器人中应用的研究进展》", 《机械工程学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112682488B (en) | 2022-02-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106452165B (en) | Inchworm type precise linear micro-driver based on compliant mechanism | |
| US10483877B2 (en) | One-dimensional large-stroke precise positioning platform | |
| CN111030505B (en) | Secondary displacement amplifying piezoelectric driver | |
| CN109079767B (en) | Three-dimensional high-speed precise micro-motion platform capable of deflecting | |
| CN201444405U (en) | Two-dimensional non-coupling nano-motion platform mechanism | |
| CN112682488B (en) | State non-sequential flexible tristable mechanism | |
| CN101969276A (en) | Two-dimensional uncoupled nano-scale motion platform mechanism | |
| CN211183830U (en) | Secondary displacement amplification type piezoelectric driver | |
| CN105174210A (en) | Three-degree-of-freedom micro-positioning platform based on symmetrical double compliant hinge | |
| CN109889088B (en) | Linear driving device based on full-piezoelectric ceramic driving | |
| CN218648740U (en) | Bidirectional micro-driver based on compliant mechanism | |
| CN101798052A (en) | Fully compliant tetra-stable mechanism and implementation method thereof | |
| CN108551274A (en) | Three-dimensional double-bridge type flexible hinge amplifier | |
| CN110883761B (en) | Six-degree-of-freedom motion decoupling compliant mechanism | |
| KR101076495B1 (en) | Ultra-precision linear stage using unified motion amplification and guide mechanism | |
| CN207522638U (en) | A kind of gain is with the submissive orthogonal translation enlarger of the increased compact of input power | |
| CN209461159U (en) | A kind of two-dimension high-precision micromotion platform | |
| CN116155136B (en) | Two-degree-of-freedom decoupling large-stroke flexible structure micro-motion platform | |
| CN107825467A (en) | The submissive orthogonal translation enlarger of compact that a kind of gain increases with input power | |
| JPH0616758Y2 (en) | Printing hammer | |
| CN113829248A (en) | Piezoelectric flexible micro clamp with thin plate structure | |
| CN114321630B (en) | Motion converter and optical reflection system | |
| CN116505793A (en) | One-dimensional large-stroke piezoelectric driving nano positioning platform | |
| CN117526757A (en) | Bidirectional precise positioning compliant mechanism based on piezoelectric driving | |
| CN113285629A (en) | Large-stroke piezoelectric precise displacement platform and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |