In view of the problems of low accuracy, small rotational angle, and large impact caused by flexure joints during the deployment process, an integrated flexure revolute (FR) joint for folding mechanisms was designed. The design was based on the method of compliance and stiffness ellipsoids, using a compliant dyad building block as its flexible unit. Using the single-point synthesis method, the parameterized model of the flexible unit was established to achieve a reasonable allocation of flexibility in different directions. Based on the single-parameter error analysis, two error models were established to evaluate the designed flexure joint. The rotational stiffness, the translational stiffness, and the maximum rotational angle of the joints were analyzed by nonlinear finite element analyses. The rotational angle of one joint can reach 25.5° in one direction. The rotational angle of the series FR joint can achieve 50° in one direction. Experiments on single and series flexure joints were carried out to verify the correctness of the design and analysis of the flexure joint.

针对柔性接头在展开过程中精度低、旋转角度小、冲击大等问题，设计了一种用于折叠机构的一体式柔性旋转（FR）接头。该设计基于柔量和刚度椭球的方法，使用柔顺的二元积木作为其柔性单元。采用单点综合方法，建立柔性单元的参数化模型，实现不同方向柔性的合理分配。在单参数误差分析的基础上，建立了两种误差模型来评估设计的挠性接头。通过非线性有限元分析，分析了关节的旋转刚度、平移刚度和最大旋转角度。一个关节的旋转角度可达25°。一个方向 5°。系列FR接头的旋转角度可以达到一个方向50°。分别对单个和串联挠性接头进行了试验，验证了挠性接头设计和分析的正确性。