空间三自由度柔顺并联机构设计与仿真分析

Three Degrees of Freedom Space Flexible Parallel Mechanisms Design and Simulation Analysis

刚体替换法是柔顺机构设计重要方法之一。基于刚体替换理论,选取合适的空间机构构型,选用合适的柔性铰链替换刚性运动副,依据Kutzbach Grubler理论计算空间并联机构自由度,进而设计了一种三自由度柔顺并联机构微动平台。利用ANSYS Workbench有限元分析软件对柔性支链和微动平台进行位移和应力分析,并得到动平台输出端节点位移数据,验证了三自由度柔顺并联机构的运动精度满足设计要求。通过分析获得的参数为多自由度柔顺并联机构优化提供了参考,同时可为多自由度柔顺并联机构设计提供借鉴。

Rigid body displacement method is one of the important methods of compliant mechanism design.Based on rigid body displacement method,choosing the proper space configuration,using the proper flexible joint to replace the rigid motion,then a compliant parallel mechanism micro platform was designed with three degrees of freedom by calculating the freedom of spatial parallel mechanisms based on Kutzbach Grubler theory.The displacement data of moving platform output node was obtained and the movement precision of the parallel mechanism with three degrees of freedom was validated to meet the design requirements by using the ANSYS Workbench through analyzing the stress and diaplacement of flexible side chain and micro platform.The parameters obtained from the analysis could provide a reference for the optimization of the compliant parallel mechanism with multiple degrees of freedom,and it also provided reference for the design of parallel mechanism with multiple degrees of freedom.