中文摘要：

零刚度柔性铰链利用负刚度系统抵消功能方向正刚度特性,具有驱动力小、传动效率高等优点,是构建复杂柔性静平衡机构的基本模块。而建立正确的理论模型,分析铰链静平衡条件是设计零刚度柔性铰链的关键所在。基于广义交叉簧片柔性铰链解析刚度表达,综合零长弹簧转动负刚度原理,分别建立利用双弹簧和单弹簧实现的零刚度交叉簧片柔性铰链模型,继而得出各自的静平衡条件。最后,通过有限元仿真结果佐证了理论模型的正确性。

英文摘要：

Zero stiffness flexure joint is a basic element of the statically balanced compliant mecha- nismJn order to cancel out the spring-back behavior of flexure joint, negative stiffness segment is applied, which consists of two zero-free-length springs.Based on rotation angle model of the generalized cross- spring pivot and rotational negative stiffness segment,the models of zero stiffness cross-spring pivots with two springs and one spring are developed respectively,and the static balancing conditions are derived.Final- ly,the theoretical results are verified through finite element analysis.