3-RPC分布柔度式柔顺机构结构设计

Structural Design for the 3-RPC Distribution Flexible Type Compliant Mechanism

针对传统柔性并联定位机构定位精度低,无法满足高精度定位要求的问题,提出分布柔度式柔顺机构。基于传统并联机构为设计原型,采用拓扑优化理论对空间定位机构进行拓扑优化设计,以得到空间分布柔度式柔顺机构,首先,以3-RPC传统并联机构为研究对象,建立微运动矢量映射关系。然后,建立3-RPC分布柔度式柔顺机构的材料插值模型,运用曲线拟合方法对拓扑后的构型轮廓进行拟合修正,并建立其拟合修正后的三维模型。最后,通过Hyper Works有限元软件对机构进行静力学分析,并对3-RPC分布柔度式柔顺机构实体模型进行试验研究。结果表明:与同构型的柔性并联机构相比,空间分布柔度式柔顺机构具有相同的微动特性,定位精度高,误差在允许范围内,进而验证了空间分布柔度式柔顺机构的拓扑优化设计方法的有效性,为空间分布柔度式柔顺机构优化设计提供了新思路。

Aiming at the problem that traditional flexible parallel positioning mechanismhas lowaccuracy and can＇t meet the requirements of high precision,the distribution flexible type compliant mechanism is proposed. In order to get the spatial distribution flexible type compliant mechanism,based on the design prototype of parallel mechanism,topology optimization design was carried out by using topology optimization theory. Firstly,based on the 3-RPC traditional parallel mechanism,the differential continuous vector mapping relationship between the distribution flexible type compliant mechanism and the traditional parallel mechanism was established. Secondly,the topology optimizationsolid material interpolation model of 3-RPC distribution flexible type compliant mechanism was established,based on the curve fitting method,the whole configuration profile was fitted and the 3 D model was established. Finally,the static simulation analysis and comparison were presented based on finite element software,and thenthe experimental study of the 3-RPC distribution flexible type compliant mechanism model is carried out. The results showthat the distribution flexible type compliant mechanism and the traditional flexible parallel mechanism have the same movement characteristics,the positioning accuracy is high,and the error is within the allowable range,verifying the effectiveness of the proposed method,which provides a newway of thinking for the optimum design of spatial distribution flexible type compliant mechanism.