Compliant mechanism spatial configuration topological optimization method

Abstract

The invention provides a compliant mechanism spatial configuration topological optimization method and relates to the technical fields of precise positioning and precise operation. The method comprises the steps that parallel mechanism structure parameters corresponding to compliant mechanism spatial configuration are optimized, and a differential equivalent method is adopted to obtain an optimized parallel mechanism Jacobian matrix; a topological optimization design domain is set according to driver settings of a parallel mechanism and multiple-input-multiple-output motion features, a non-design region in the design domain is delimited, and meshing is performed on a design region; the optimized parallel mechanism Jacobian matrix is fused into the topological optimization method, and topological optimization is performed on the compliant mechanism spatial configuration; and topological configuration is extracted. Through the method, while spatial multiple-degree-of-freedom motion feature requirements are met, the compliant mechanism spatial configuration with maximum overall stiffness can be obtained according to the nature of the topological optimization method, and the vibrationsuppression ability of a compliant mechanism itself is improved.

Description

technical field [0001] The invention relates to the technical fields of precision positioning and precision operation, and in particular to a topology optimization method for the spatial configuration of a compliant mechanism. Background technique [0002] A compliant mechanism is a mechanism that generates displacement and transmits motion, force or energy through the elastic deformation of some or all of its flexible members. Compared with the traditional rigid mechanism, its advantages are: excellent performance (such as high precision, no gap, no friction, no wear, light weight, etc.), low cost (such as easy processing, few parts, etc.) and easy miniaturization (such as micro-nano mechanical parts, etc.). Therefore, compliant mechanisms are widely used in high-end technical fields such as MEMS assembly, electronic packaging and lithography, and precision medicine. [0003] Compliant mechanisms with multi-degree-of-freedom motion characteristics usually adopt the flexib...

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Problems solved by technology

[0005] Chinese patent CN201410476694.6 discloses a multi-degree-of-freedom compliant parallel topology optimization method. By performing topology optimization on a planar three-degree-of-freedom compliant parallel mechanism, a single-branch topology of a multi-degree-of-freedom compliant parallel mechanism is obtained, and then the single-branch Combined to form a space multi-degree-of-freedom compliant parallel mechanism, this design method artificially splits the coupling characteristics of the overall elastic deformation of the space compliant mechanism, and the obtained multi-degree-of-freedom compliant parallel mechanism cannot find the corresponding pseudo-rigid body model, thus affect its further application

[0006] Jin Mohui (topology optimization method of compliant mechanism based on pseudo-rigid body model and Jacobian matrix, South China University of Technology, doctoral dissertation, 2016) optimizes the mapping matrix-Jacobian matrix representing the operation space and joint space in the topology process, And use this to establish a pseudo-rigid body model of the compliant mechanism. This method ignores the invariance of the Jacobian matrix mapping, which leads to the establishment of a pseudo-rigid body model that cannot accurately correspond to the topological configuration of the compliant mechanism.

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