柔顺并联机构结构优化与动力学仿真  

Modeling and Dynamic Simulation Analysis of Structural Optimization for Compliant Parallel Mechanism

作　　者：赵元[1] 杜莹[2] ZHAO Yuan;DU Ying(College of Mechanical and Vehicle Engineering,Shenyang Institute of Technology,Fushun Liaoning 113122,China;Basic Courses Department,Shenyang Institute of Technology,Fushun Liaoning 113122,China)

机构地区：[1]沈阳工学院机械与运载学院,辽宁抚顺113122 [2]沈阳工学院基础课部,辽宁抚顺113122

出　　处：《组合机床与自动化加工技术》2018年第4期6-10,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(61603262)

摘　　要：针对多自由度柔顺并联机构刚度优化和动力学特性优化,提出一种新的柔顺并联机构结构优化方法,包括刚度优化与动力学优化两个过程,称为梁结构优化方法。刚度优化过程中对弯-扭梁结构的参数进行优化,同时对刚度矩阵每个元素单位进行统一,动力学优化的目的是在保持最佳刚度的同时获得所需要的结构动态特性。为了验证该方法的有效性,综合3自由度柔顺并联机构(θx-θy-Z)并利用Matlab遗传算法求解器和ANASY有限元仿真软件对其进行计算以及仿真分析。计算结果和仿真结果显示,优化得到的3自由度柔顺并联机构不仅能够实现较大的工作空间,而且其移动刚度比和转动刚度比分别大于200和4000,证明了该方法的有效性。A new structural optimization method for the optimization of stiffness and dynamic characteristics of multi degree of freedom compliant parallel mechanism is presented,including the optimization of stiffness and dynamic optimization,termed as the beam structure optimization method.The curved-and-twisted beam parameters were optimized in stiffness optimization,and a new analytical approach is introduced to normalize the differences in the units.The aim of dynamic optimization is that obtained the dynamic structure characteristics required and maintained the optimized stiffness.In order to verify the validity of the method,Matlab genetic algorithm solver and ANASY finite element simulation software are used to calculate and simulate the 3 degree of freedom compliant parallel mechanism(θx-θy-Z).The optimized 3 degree of freedom compliant parallel mechanism can not only realize the larger workspace,but also can achieve a larger stiffness ratio and rotational stiffness over 200 and 4000,respectively.

关 键 词：柔顺机构 弹性变形 自由度 优化 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]