中文摘要：

直簧片柔性铰链研究结果表明,簧片的约束行为对柔性铰链的刚度和精度特性具有本质影响,而具有放松约束行为的弯曲簧片一直缺乏系统研究,其非功能方向的约束特性具有重要研究价值。尤其对于曲梁三角形柔性铰链,建立直观的力学模型,对于放松约束行为的曲梁柔性铰链拓扑研究具有重要意义。基于Awtar曲梁模型公式,在普遍受力状态下,建立基于曲梁的三角形柔性铰链转角数学模型,并推导出轴漂数学模型,理论分析与有限元分析结果精确吻合,说明数学模型的正确性,同时,计算结果表明,曲梁柔性铰链约束行为具有较多变化,为新型柔性铰链的设计提供了新的思路。

英文摘要：

The research on straight leaf-spring shows that the constraint-based action is essential for stiffness and accuracy of a complaint joint.So far,little research about constraint-based action has been done for the curved leaf-spring especially for the curved leaf-spring compliant joint.Building up the stiffness model and accuracy model is important for compliant mechanisms synthesis.Based on Awtar-formula,the approximate rotation angle model and axis drift model of a curved leaf-spring triangle compliant joint under simultaneous load（bending moment,tangential force and axial force） are built.The rotation angle model and axis drift model are verified by finite element analysis.The curved leaf-spring triangle compliant joint is versatile that is revealed by the FEA simulation and model computation,the character can provide a new method for the compliant joint structure synthesis.