Multi-DOF (degree of freedom) topological optimization method for compliant parallel mechanism

A technology of topology optimization and degrees of freedom, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as topology synthesis of compliant parallel mechanisms with multiple degrees of freedom, so as to enrich topology diversity and get rid of dependencies , the effect of simplifying the topology optimization problem

Active Publication Date: 2015-01-07
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

However, the existing topology optimization methods, such as the method disclosed in the patent US20110270587A1, are mainly used to design structures and single-degree-of-freedom planar compliant ...

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  • Multi-DOF (degree of freedom) topological optimization method for compliant parallel mechanism
  • Multi-DOF (degree of freedom) topological optimization method for compliant parallel mechanism
  • Multi-DOF (degree of freedom) topological optimization method for compliant parallel mechanism

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Embodiment Construction

[0025] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0026] A method for topology optimization of a multi-degree-of-freedom compliant parallel mechanism, specifically comprising steps in the following order:

[0027] Step 1: Divide fixed design domains, discretize and set boundary conditions for each kinematic chain according to the design problem. Such as figure 1 and figure 2 As shown, the frame 1 and the moving platform 2 are connected by a plurality of fixed design domains 3, which are used to synthesize the corresponding kinematic chains 3; The number of chains 3 is equal to the degree of freedom of the mechanism, and each kinematic chain 3 only contains one motion input point a, that is, the number of drivers is equal to the degree of freedom of the mechanism; the size, orientation, and position of the input point...

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Abstract

The invention provides a multi-DOF (degree of freedom) topological optimization method for a compliant parallel mechanism. The method comprises the following steps in sequence: arranging a kinematic chain of the compliant parallel mechanism to be a design domain of the topological optimization problem; building a compliant matrix for each kinematic chain, and assembling all the compliant matrixes to be a rigid matrix of the compliant parallel mechanism; deriving the rigidity and kinematic transmission relation of input/ output points according to the rigidity matrix of the mechanism; creating a topological optimization model to optimize the kinematic chain. The method can be applied to a comprehensive plane 1-3 degrees of freedom, spatial 2-6 degrees of freedom, redundant driving and other compliant parallel mechanisms; the topology with the optimal performance can be obtained according to the design problem without referring to the existing rigid mechanism; in addition, the topology is unique and novel, and the topology type of the compliant parallel mechanism is enriched.

Description

technical field [0001] The invention relates to the fields of precise positioning and precise operation, in particular to a topology optimization method for a multi-degree-of-freedom compliant parallel mechanism. Background technique [0002] The traditional multi-degree-of-freedom compliant parallel mechanism is generally synthesized by the rigid body substitution method, that is, the rigid hinge in the existing rigid parallel mechanism is replaced by a flexible hinge, and the motion transmission is realized through the elastic deformation of the flexible hinge. This type of mechanism can avoid problems such as hinge clearance, friction, and assembly errors in rigid mechanisms, and has been widely used in technical fields such as micro-electromechanical technology and precision engineering. However, some rigid mechanism topologies obtained by motion synthesis methods, such as the method disclosed in patent CN200610038352.1, are not suitable for compliant mechanisms, and the...

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Application Information

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IPC IPC(8): G06F17/50
Inventor 张宪民金莫辉
Owner SOUTH CHINA UNIV OF TECH
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