整体式平面两自由度全柔顺并联机构构型拓扑优化设计

Topology Optimization Integrated Design of 2-Do F Fully Compliant Planar Parallel Manipulator

基于平面两自由度并联机构微分运动学矢量连续映射关系,建立整体式平面两自由度全柔顺并联机构构型拓扑优化模型-各向同性材料插值模型(SIMP模型),运用优化准则(OC)算法对所建模型进行求解,并采用Heaviside过滤技术处理优化过程中棋盘格和网格依赖问题。基于曲线拟合方法对优化后整体构型轮廓进行拟合,在Solid Works软件中建立其三维模型,进而应用有限元软件对其进行静力学仿真分析与对比。结果表明:以微分运动学矢量连续映射关系为拓扑优化设计条件,所得出的平面两自由度全柔顺并联机构与传统同构型并联机构具有相同的微分运动特性。

Based on the topology optimization design method,a 2-DOF full compliant planar mechanism is proposed in this paper. Continuous mapping between the 2-DOF full compliant planar mechanism and traditional parallel mechanism is established through Jacobi matrix. Solid isotropic material penalization( SIMP) model of the 2-DOF full compliant planar mechanism is established and solved by OC algorithm. The problems of Checkerboard and mesh-dependency are treated by Heaviside filter technique. With curve fitting method,three dimensional model of the 2-DOF full compliant planar mechanism is built. The static analysis for this structure is performed with the finite element analysis software. The differential motion characteristics of the 2-DOF full compliant planar mechanism is the same as those of the traditional parallel mechanism.