| 摘要: |
| 目的 运用拓扑优化技术设计一种平面2-DOF（Degrees-of-Freedom）柔顺并联机构，使其具有微米级别的微运动特性。方法 依据平面2-DOF并联原型机构的受力情况进行运动特性分析，基于同构封闭矢量映射原理构建平面2-DOF柔顺并联机构的微分运动Jacobian矩阵，表达多自由度的柔顺并联机构从输入到输出间各关节的运动关系。定义柔度为优化目标函数，微分运动Jacobian矩阵为运动条件，材料体积分数为约束条件，构建平面2-DOF柔顺并联机构材料属性的有理近似模型，并运用移动渐进线法优化求解。结果 优化后的平面2-DOF柔顺并联机构构型在x方向的位移为?0.0089 mm，在y方向的位移为0.0053 mm，同时，其沿x方向和y方向的微位移理论值为?0.0031 mm和0.0067 mm。结论 与并联原型机构的运动特性相比，平面2-DOF柔顺并联机构优化后的微运动特性具有一致性，均为微米级。 |
| 关键词: 同构封闭矢量映射原理 平面2-DOF柔顺并联机构 Jacobian矩阵 移动渐近线法 微运动特性 |
| DOI：10.19554/j.cnki.1001-3563.2019.05.028 |
| 分类号:TB486；TH11 |
| 基金项目:湖北省教育厅科学技术研究项目（B2018458） |
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| Configuration Design of Planar 2-DOF Compliant Parallel Mechanism Based on Topology Optimization |
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ZHU Zhi-qiang, XIONG Yan-hong
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Hubei Polytechnic Institute, Xiaogan 432000, China
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| Abstract: |
| The paper aims to design a planar 2-DOF compliant parallel mechanism with the topology optimization technology to make it have kinetic characteristics at the micron level. The kinetic characteristic was analyzed according to the loading situation of planar 2-DOF parallel prototype mechanism. The kinetic differential Jacobian matrix of planar 2-DOF compliant parallel mechanism was built based on isomorphic closed vector mapping principle to show the kinematic relations of the joints from input to output in multiple DOF compliant parallel mechanism. In this paper, the optimization model of rational approximation of material properties for planar 2-DOF compliant parallel mechanism was built, which defined the compliance as the optimization objective function, the differential kinetic Jacobian matrix as kinetic condition and the material volume ratio as constraint condition. The Moving Asymptotes Method was used to solve the optimization problem. For the configuration of planar 2-DOF compliant parallel mechanism after optimization, its displacement in x and y direction was ?0.0089 mm and 0.0053 mm; however, the theoretical displacement in x and y direction was ?0.0031 mm and 0.0067 mm. Results showed that the differential kinetic characteristics of planar 2-DOF compliant parallel mechanism optimal configuration is consistent with its parallel prototype mechanism, and the positional accuracy is achieved at the micron level. |
| Key words: isomorphic closed vector mapping principle planar 2-DOF compliant mechanism Jacobian matrix moving asymptotes method differential kinetic characteristic |
