中文摘要：

作为一种旋转单元,三角形柔性铰链可以组合为性能更加优良的柔性模块或柔性机构,如车轮形铰链、蝶形铰链等。建立准确的受力模型,分析其载荷—位移特性成为设计复杂铰链或机构的关键所在。基于近似的悬臂梁模型,建立三角形柔性铰链在同时受到弯矩、切向力和轴向力作用下精确的转角模型。得到未被近似的轴漂计算公式,并根据公式推导实用的轴漂模型。转角和轴漂模型都简洁地表征了载荷—位移关系,最后,通过有限元分析验证了所建立的模型的准确性。

英文摘要：

The triangle flexible hinge as a rotational element can be used to construct flexible module or compliant mechanism with better performance, such as wheel shape hinge and butterfly hinge. Building an accurate force-bearing model and analyzing its load-displacement characteristic is the key to designing a complicated hinge or mechanism. Based on an approximate cantilever model, an accurate rotation angle model of triangle flexible hinge under simultaneous actions of bending moment, tangential force and axial force is built. The calculation formula for axis drift without approximation is obtained, and a practical axis drift model is derived. The rotation angle and axis drift models all concisely represent the load-displacement relationship. The accuracy of built models is verified through finite element analysis.