整体式平面三自由度全柔顺并联机构构型拓扑优化设计  

Topology Optimization Integrated Design of 3-DOF Fully Compliant Planar Parallel Manipulator

作　　者：朱大昌[1] 冯文结 安梓铭 

机构地区：[1]江西理工大学机电工程学院,赣州341000

出　　处：《机械工程学报》2015年第5期30-36,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51165009);中国博士后科学基金(2013M541874)资助项目

摘　　要：基于平面三自由度全柔顺并联机构与传统并联机构的微分运动学矢量连续映射关系,建立整体式平面三自由度全柔顺并联机构构型拓扑优化模型-固体各向同性材料插值(Solid isotropic material with penalization,SIMP)模型,运用优化准则(Optimization criterion,OC)算法对所建立模型求解,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,所得出的平面三自由度全柔顺并联机构与传统并联机构具有相同的微分运动特性,定性验证了基于拓扑方法对平面全柔顺并联机构设计的有效性。Based on differential kinematics vector continuous mapping relations between planar （3-DOF degree-of-freedom） fully compliant parallel manipulator and conventional parallel manipulator, topology optimal model named solid isotropic material with penalization （SIMP） is built for integrated planar 3-DOF fully compliant parallel manipulator, and solved by optimization criterion （OC） algorithm. By using Heaviside filtering technique and curve fitting method, the checkerboard and mesh dependent problems are solved, and curve contour of planar 3-DOF fully compliant parallel manipulator is built, respectively. Three-dimension model is established with SolidWorks software. Furthermore, the statics simulations of integrated planar 3-DOF fully compliant parallel manipulator are analyzed in ANSYS software. The results show that two structures have the same differential motion characteristic under the topology optimization conditions with differential kinematics vector continuous mapping relations.

关 键 词：平面三自由度全柔顺并联机构 矢量连续映射 拓扑优化 固体各向同性材料插值模型 优化准则算法 

分 类 号：TH113[机械工程—机械设计及理论]