空间三平移全柔性并联机构构型设计

Configuration Design for the Spatial 3-DOF Translation Fully Compliant Parallel Mechanism

针对全柔性并联机构的柔性铰链存在蠕变、回程反力和应力松弛的缺陷,基于空间三自由度并联机构的设计原型,设计了两种不同结构形式的全柔性并联机构。首先,基于"铰链替换法"设计出了一种全柔性并联机构;然后,基于"型综合法"和拓扑优化理论设计了一种集成式全柔性并联机构;最后,建立机构的静刚度分析和频域分析模型,分别对机构进行仿真分析和实验研究。结果表明,相对于第一种方案的全柔性并联机构,集成式全柔性并联机构具有更高的运动精度、更优的刚度特性和更佳的抗振性,验证了集成式全柔性并联机构拓扑优化设计方法的有效性。

The compliant hinge of fully compliant parallel mechanism has the defects of creep deformation,backhaul reaction and stress relaxation,two different configurations of fully compliant parallel mechanism are designed based on the spatial parallel mechanism prototype. Firstly,based on hinge replacement method,one kind of fully compliant parallel mechanism is established. Secondly,one kind of integrated fully compliant parallel mechanism is designed by adopting type synthesis and topology optimization method. Finally,the model of static stiffness analysis and modal analysis are established,then the simulation analysis and experiment test are carried out correspondingly. The results show that compared with the first scheme fully compliant parallel mechanism,the integrated fully compliant parallel mechanism has higher motion accuracy,better stiffness characteristics and vibration resistance,the effectiveness of topology optimization design method for integrated fully compliant parallel mechanism is verified.