集成式2PR-R型柔顺并联机构优化设计及精密定位性能研究  

Research on optimization design and precision positioning of integrated 2PR-R type compliant parallel mechanism

作　　者：宋晓蕾 SONG Xiaolei(Henan Vocational University of Science and Technology,Zhoukou 466000,CHN)

机构地区：[1]河南科技职业大学,河南周口466000

出　　处：《制造技术与机床》2023年第7期125-131,共7页Manufacturing Technology & Machine Tool

摘　　要：以精密定位装置在平面内的定位精度作为任务需求,设计具有平面二自由度的2PR-R柔顺并联机构作为本体构型,通过矢量映射关系建立该机构的Jacobian矩阵,验证其多输入-多输出的运动性能。进一步,基于2PR-R柔顺并联机构的运动特性,以机构静态刚度与一阶固有频率分别作为两个子目标构建多目标函数。以机构的Jacobian矩阵作为运动约束条件,以材料体积分数为不等式约束条件,构建该机构优化问题的数值模型,运用水平集算法进行优化问题的解算。最后,采用SolidWorks拟合机构优化结果的边界曲线,并由有限元软件进行相同工况条件下的力学分析。结果表明:平面2PR-R柔顺并联机构优化模型具有微米级运动特性,与原型并联机构具有相同的运动特性。The positioning accuracy of precision positioning device in the plane is taken as the task-based requirement,a planar 2PR-R compliant parallel mechanism with two degrees-of-freedom was designed as the ontology configuration,its Jacobian matrix was built based on vector mapping relationship,so that its kinematic characteristics of multi-inputs and multi-outputs could be verified.Furthermore,a multi-objective function of the optimization problem was established by two sub-objectives of the static stiffness and first-order natural frequency as optimization objective,which was based on the kinematic characteristics of 2PR-R compliant parallel mechanism.Taking the Jacobian matrix of planar 2PR-R compliant parallel mechanism as motion constant and its material volume fraction as inequality constraint to build the numerical model for the optimization problem,and the optimization solution was solved by level-set algorithm.Finally,the boundary curve of optimization result is fitted by SolidWorks technology,and the static problem of the optimal configuration was analyzed based on OptiStruct.Results shown that the differential kinetic characteristics of planar 2PR-R compliant parallel mechanism optimal configuration is consistent with its parallel prototype mechanism,the positional accuracy is achieved at the micron level.

关 键 词：2PR-R柔顺并联机构 Jacobian矩阵 水平集算法 拓扑优化 

分 类 号：TP112[自动化与计算机技术—控制理论与控制工程]