平面3-RPR全柔顺并联机构的构型拓扑优化设计  

Topology Optimization Design of the Planar 3-RPR Fully Compliant Parallel Mechanism

作　　者：沙赛 张荣兴[1] 周磊[1] 安梓铭 

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《机械传动》2016年第6期57-62,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51165009;51105077);中国博士后科学基金(2013M541874);江西省自然科学基金重点资助项目(20142BAB206019);江西省教育厅科技计划项目(GJJ14422);江西省科技厅-江西省自然科学基金(20151BAB206034)

摘　　要：基于并联机构的微分运动学输入与输出之间位移矢量微分映射关系,通过建立平面3-RPR型全柔顺并联机构的拓扑优化模型(SIMP插值模型),运用优化准则法(OC算法)进行优化求解,并采用Heaviside过滤技术对棋盘格现象进行抑制和处理。结合二次插值法对拓扑优化后得到的模型进行曲线拟合,并在Solid Works中三维建模,将模型导入Hyperworks中二次网格划分并进行静力学分析与对比,结果表明:基于映射关系所得出的拓扑优化构型与传统并联机构构型具有相同的运动特性,结构更加简洁、轻便,该方法为此类平面全柔顺并联机构构型综合方面提供理论参考依据。Based on the differential kinematics of parallel mechanism displacement vector differential mapping relation between input and output,through establishing a planar 3-RPR topology optimization model of fully compliant parallel mechanism（ SIMP interpolation model）,the solution is optimized by using the optimization criterion method（ OC） algorithm,and by using the Heaviside filtering technology,the checkerboard phenomenon is restrained and processed. Combining with quadratic interpolation method of topology optimization,the curve fitting of the model is carried out,and the 3D model is created in the Solidworks,the model is imported into Hyperworks for second meshing and its statics comparison and analysis are carried out,the results show that,the manipulator which based on the mapping relation of topology optimization not only has the same movement characteristic with the traditional parallel mechanism,but also the structure is more compact,lightweight,and the method provides a theoretical reference for the configuration synthesis of this kind of plane compliant parallel mechanism.

关 键 词：平面3-RPR 型全柔顺并联机构 拓扑优化 位移矢量微分映射 SIMP插值模型 

分 类 号：TH112[机械工程—机械设计及理论]