3-RPC型柔顺并联机构结构设计

Structural Optimization Design for the 3-RPC Compliant Parallel Mechanism

针对目前并联机构精度低,无法满足高精度要求的现状,提出对传统并联机构进行优化设计。首先,以传统并联机构构型3-RPC为基础建立微分运动矢量映射关系Jacobian矩阵。建立空间3-RPC柔顺并联机构的拓扑优化SIMP模型并运用OC算法求解,将实体模型导入有限元软件中进行拓扑优化设计。其次,在Ossmouth中对优化好的构型进行过滤及光顺处理并导出进行二次建模。最后,运用曲线拟合方法对拓扑后的构型轮廓进行拟合修正,采用Solid Works软件建立其拟合修正后的模型,进而通过Hyper Works有限元软件对机构进行静力学分析。仿真结果表明:与同构型的传统并联机构相比,拓扑优化后的空间柔顺并联机构具有相同的微动特性,因而验证了空间并联机构的拓扑优化设计方法的有效性。

In view of the fact that the parallel mechanismhas low accuracy and can’t meet the requirements of high precision,this paper puts forward the optimization design of the traditional parallel mechanism.Firstly,based on the traditional parallel mechanism configuration of 3-R PC to establish the differential kinematics mapping relationship,the topology optimization SIM P model of spatial 3-RPC compliant parallel mechanism was established,and the model was solved by using the optimization criterion algorithm.The solid model is introduced into the finite element software for topology optimization design.Secondly,for the two time modeling,the optimized configuration is derived fromthe Ossmouth.Finally,based on the curve fittingmethod,the whole configuration profile was fitted and by using SolidW orks software the 3D model was established,and then the static simulation analysis and comparison were presented based on finite element software.The simulation results show that the spatial compliant parallel mechanism after topology optimization and the traditional parallel mechanism have the same movement characteristics,which qualitatively verified the effectiveness of the topology optimization method for the spatial parallel mechanism.