平面3-RPR全柔顺并联机构的构型拓扑优化设计

Topology Optimization Design of the Planar 3-RPR Fully Compliant Parallel Mechanism

基于并联机构的微分运动学输入与输出之间位移矢量微分映射关系,通过建立平面3-RPR型全柔顺并联机构的拓扑优化模型(SIMP插值模型),运用优化准则法(OC算法)进行优化求解,并采用Heaviside过滤技术对棋盘格现象进行抑制和处理。结合二次插值法对拓扑优化后得到的模型进行曲线拟合,并在Solid Works中三维建模,将模型导入Hyperworks中二次网格划分并进行静力学分析与对比,结果表明:基于映射关系所得出的拓扑优化构型与传统并联机构构型具有相同的运动特性,结构更加简洁、轻便,该方法为此类平面全柔顺并联机构构型综合方面提供理论参考依据。

Based on the differential kinematics of parallel mechanism displacement vector differential mapping relation between input and output,through establishing a planar 3-RPR topology optimization model of fully compliant parallel mechanism（ SIMP interpolation model）,the solution is optimized by using the optimization criterion method（ OC） algorithm,and by using the Heaviside filtering technology,the checkerboard phenomenon is restrained and processed. Combining with quadratic interpolation method of topology optimization,the curve fitting of the model is carried out,and the 3D model is created in the Solidworks,the model is imported into Hyperworks for second meshing and its statics comparison and analysis are carried out,the results show that,the manipulator which based on the mapping relation of topology optimization not only has the same movement characteristic with the traditional parallel mechanism,but also the structure is more compact,lightweight,and the method provides a theoretical reference for the configuration synthesis of this kind of plane compliant parallel mechanism.