Parameter optimization method and system of constant force mechanism

Abstract

The application discloses a kind of parameter optimization method and system of constant force mechanism, applied to constant force mechanism technical field, which comprises: by constructing feasible initial flexible constant force mechanism, and obtaining a plurality of initial structure parameters of constant force structure, the force-displacement characteristic curve of constant force mechanism is obtained by analysis, a plurality of initial structure parameters are analyzed, obtain several sensitive initial structure parameters, and construct constraint condition and optimization objective function, construct the cost function of description optimization objective function, and based on constraint condition, several sensitive initial structure parameters are optimized, obtain several optimization structure parameters, using several optimization structure parameters, constant force mechanism is adjusted, and obtains optimization constant force mechanism, and optimization constant force mechanism is verified.The application solves the technical problems that the prior art lacks a method for automatically designing and optimizing parameters based on constant force mechanism, resulting in a complex and low-efficiency constant force mechanism parameter optimization method.

Description

Technical Field

[0001] This invention relates to the field of constant force mechanism technology, and in particular to a parameter optimization method and system for a constant force mechanism. Background Technology

[0002] In recent decades, precision manipulation has rapidly developed in various new applications, including micromanipulation, biomedical research, precision optics, and precision assembly. Besides ensuring precise positional control in micro- and nano-scale manipulations, the irregular shapes and fragility of microscale objects necessitate strict adjustment of the manipulating force within appropriate ranges. Currently, there are two main methods for achieving manipulating precision: force feedback control and mechanism design. Force feedback control precisely adjusts the feedback force through a controller, while mechanism design adjusts the output force by modifying structural characteristics. Compared to the complexity and high cost of force feedback control systems, mechanism design methods are more economical and simpler, making them popular among researchers. Unlike traditional elastic structures, constant force mechanisms do not obey Hooke's law; their stiffness is quasi-zero during coupled buckling deformation. This allows flexible constant force mechanisms to provide a nearly constant force output without feedback within a specific displacement range. Because flexible constant force mechanisms replace complex control systems with their mechanical properties, they have gained significant attention due to their substantial reduction in the difficulty and complexity of traditional force feedback control systems.

[0003] In numerous design and research experiments on flexible constant force mechanisms, problems such as insufficient constant force stroke and inconsistencies between experiments and theories often arise because the mechanism design is based on mechanical theory. Therefore, constant force mechanisms need to be optimized. Although researchers can manually adjust the structural parameters based on the parameter sensitivity results in optimization studies, the selected objective function is too singular, the optimization objective is vague, and there is only one conceptual optimization objective, resulting in low optimization efficiency. Furthermore, it is impossible to optimize based on specific target values, making it difficult to automatically design structural parameters based on the target constant force value.

[0004] Therefore, the lack of existing technologies for automatically optimizing the design parameters of constant force mechanisms leads to the technical problem of complex and inefficient optimization methods for constant force mechanism parameters. Summary of the Invention

[0005] This application provides a parameter optimization method and system for a constant force mechanism, which solves the technical problem in the prior art that the lack of a method for automatically optimizing the design parameters of a constant force mechanism leads to complex and inefficient parameter optimization methods.

[0006] This application provides a parameter optimization method for a constant force mechanism. The method includes: constructing a feasible initial flexible constant force mechanism and obtaining multiple initial structural parameters of the initial flexible constant force mechanism; analyzing and obtaining the force-displacement characteristic curve of the initial flexible constant force mechanism; performing parametric analysis on the multiple initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force mechanism; constructing constraint conditions and an optimization objective function based on the several sensitive initial structural parameters, and constructing a cost function describing the optimization objective function; using the constraint conditions, the optimization objective function, and the cost function, using a multi-objective genetic algorithm in ANSYS Workbench to optimize the several sensitive initial structural parameters to obtain several optimized structural parameters; using the several optimized structural parameters to adjust the initial flexible constant force mechanism to obtain an optimized flexible constant force mechanism, and verifying the optimized flexible constant force mechanism.

[0007] This application also provides a parameter optimization system for a constant force mechanism. The system includes: an initial structural parameter acquisition module for constructing a feasible initial flexible constant force mechanism and acquiring multiple initial structural parameters of the initial flexible constant force mechanism; a characteristic curve construction module for analyzing and obtaining the force-displacement characteristic curve of the initial flexible constant force mechanism; a sensitive initial structural parameter acquisition module for performing parametric analysis on the multiple initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force mechanism; a constraint condition construction module for constructing constraint conditions and an optimization objective function based on the several sensitive initial structural parameters; an optimization objective function acquisition module for constructing a cost function describing the optimization objective function; an optimized structural parameter acquisition module for optimizing the several sensitive initial structural parameters in ANSYS Workbench using a multi-objective genetic algorithm based on the constraint conditions, the optimization objective function, and the cost function to obtain several optimized structural parameters; and a constant force mechanism verification module for adjusting the initial flexible constant force mechanism using the several optimized structural parameters to obtain an optimized flexible constant force mechanism and verifying the optimized flexible constant force mechanism.

[0008] This application also provides an electronic device, including:

[0009] Memory, used to store executable instructions;

[0010] The processor, when executing executable instructions stored in the memory, implements a parameter optimization method for a constant force mechanism provided in the embodiments of this application.

[0011] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a parameter optimization method for a constant force mechanism provided in the embodiments of this application.

[0012] This application proposes a parameter optimization method and system for a constant force mechanism. It constructs a feasible initial flexible constant force mechanism and obtains multiple initial structural parameters of the initial flexible constant force structure. The force-displacement characteristic curve of the initial flexible constant force mechanism is analyzed. Parametric analysis is performed on the multiple initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force structure. Based on these sensitive initial structural parameters, constraints and an optimization objective function are constructed, along with a cost function describing the optimization objective function. Based on the constraints, optimization objective function, and cost function, a multi-objective genetic algorithm is used in ANSYS Workbench to optimize the several sensitive initial structural parameters, obtaining several optimized structural parameters. Using these optimized structural parameters, the initial flexible constant force mechanism is adjusted to obtain an optimized flexible constant force mechanism, which is then verified. This method achieves automatic optimization of multiple parameters of the constant force mechanism, improving the parameter optimization efficiency. It solves the technical problem in the prior art of lacking a method for automatically optimizing parameters based on the design of constant force mechanisms, leading to complex and inefficient parameter optimization methods for constant force mechanisms.

[0013] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments of this disclosure will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure, and are not intended to limit this disclosure.

[0015] Figure 1 This invention provides a parameter optimization method for a constant force mechanism and a theoretical stiffness analysis model diagram of a negative stiffness beam in the system.

[0016] Figure 2 This invention provides a parameter optimization method for a constant force mechanism and a theoretical stiffness analysis model diagram of a positive stiffness beam in the system.

[0017] Figure 3 A flowchart illustrating a parameter optimization method for a constant force mechanism provided by the present invention;

[0018] Figure 4 A schematic diagram of the structure of a parameter optimization system for a constant force mechanism provided by the present invention;

[0019] Figure 5 This is a schematic diagram of the structure of an exemplary electronic device provided by the present invention;

[0020] Figure 6 This is a schematic diagram of a constant force mechanism structure for parameter optimization, which is provided by the present invention.

[0021] Figure labeling: Initial structural parameter acquisition module 11, characteristic curve construction module 12, sensitive initial structural parameter acquisition module 13, constraint condition construction module 14, optimization objective function acquisition module 15, optimization structural parameter acquisition module 16, constant force mechanism verification module 17. Detailed Implementation

[0022] Example 1

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the following description, references are made to “some embodiments”, which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0025] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only.

[0027] While this application makes various references to certain modules of the system according to embodiments of this application, any number of different modules may be used and run on user terminals and / or servers. These modules are merely illustrative, and different aspects of the system and method may use different modules.

[0028] This application uses flowcharts to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, various steps can be processed in reverse order or simultaneously, as needed. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0029] like Figure 3 As shown in the embodiment of this application, a parameter optimization method for a constant force mechanism is provided, the method comprising:

[0030] Step S10: Construct a feasible initial flexible constant force mechanism and obtain multiple initial structural parameters of the initial flexible constant force structure;

[0031] Step S20: Analyze and obtain the force-displacement characteristic curve of the initial flexible constant force mechanism;

[0032] Step S30: Perform parametric analysis on the multiple initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force structure;

[0033] Step S40: Based on the aforementioned sensitive initial structural parameters, construct the constraints and optimize the objective function;

[0034] Step S50: Construct a cost function that describes the optimization objective function;

[0035] Step S60: Based on the constraints, the objective function and the cost function, a multi-objective genetic algorithm is used in ANSYS Workbench to optimize the several sensitive initial structural parameters and obtain several optimized structural parameters.

[0036] Step S70: Using the aforementioned optimized structural parameters, adjust the initial flexible constant force mechanism to obtain an optimized flexible constant force mechanism, and verify the optimized flexible constant force mechanism.

[0037] Specifically, a feasible initial flexible constant force mechanism is constructed, wherein the initial flexible constant force mechanism is a constant force mechanism that requires parameter optimization. In the embodiments of this application, the optimized constant force mechanism is as follows: Figure 6As shown, multiple initial structural parameters of the initial flexible constant force structure are obtained. The mechanism is composed of a combination of positive stiffness and negative stiffness mechanisms. The force-displacement characteristic curve of the initial flexible constant force mechanism is obtained through analysis. Subsequently, parametric analysis is performed on multiple initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force structure. Further, based on several sensitive initial structural parameters, constraint conditions and optimization objective functions are constructed. The cost function of the optimization objective function is further constructed. Then, based on the constraint conditions, optimization objective function, and cost function, a multi-objective genetic algorithm is used in ANSYS Workbench to optimize the several sensitive initial structural parameters to obtain several optimized structural parameters. Using the several optimized structural parameters, the initial flexible constant force mechanism is adjusted to obtain an optimized flexible constant force mechanism. Finally, the optimized flexible constant force mechanism is verified.

[0038] The method S10 provided in this application embodiment further includes:

[0039] Step S11: Using the stiffness combination mechanism design method, design and construct an initial negative stiffness mechanism and an initial positive stiffness mechanism;

[0040] Step S12: Combine the initial negative stiffness mechanism and the initial positive stiffness mechanism to obtain the initial flexible constant force mechanism;

[0041] Step S13: Construct the initial theoretical data model of the initial flexible constant force mechanism;

[0042] Step S14: Import the initial theoretical data model into Matlab for theoretical model verification to determine whether the initial flexible constant force mechanism is feasible;

[0043] Step S15: When the initial flexible constant force mechanism is feasible, a manual trial-and-error method is used to adjust the parameters of multiple design structural parameters of the initial flexible constant force structure until the preset conditions are met, thereby obtaining the initial flexible constant force structure and the multiple initial structural parameters.

[0044] Specifically, using the stiffness combination mechanism design method, two sets of traditional bistable beams were designed as negative stiffness beams (i.e., negative stiffness mechanisms), and a U-shaped beam was designed as a positive stiffness beam (i.e., positive stiffness mechanism). The negative and positive stiffness mechanisms were combined to form a flexible constant force mechanism, and an initial theoretical data model of the initial flexible constant force mechanism was constructed. Furthermore, the initial theoretical data model was imported into Matlab for theoretical model verification to determine the feasibility of the initial flexible constant force mechanism. Figure 1 and Figure 2These represent theoretical stiffness analysis models for beams with negative stiffness and beams with positive stiffness, respectively. When the initial flexible constant force mechanism is feasible, a manual trial-and-error method is used to adjust multiple design structural parameters of the initial flexible constant force structure until preset conditions are met, thereby obtaining the initial flexible constant force structure and the multiple initial structural parameters.

[0045] The method S20 provided in this application embodiment further includes:

[0046] Step S21: Based on the multiple initial structural parameters, construct an initial solid model using Solidworks;

[0047] Step S22: Use static analysis to obtain the force-displacement characteristic curve of the initial flexible constant force mechanism.

[0048] Specifically, an initial solid model was constructed using Solidworks based on multiple initial structural parameters. Subsequently, static analysis was employed to obtain the force-displacement characteristic curves of the initial flexible constant-force mechanism.

[0049] In the method S40 provided in this application embodiment, the plurality of sensitive initial structural parameters are the out-of-plane thickness of the beam, the in-plane width of the beam, the inclination angle of the beam, and the length of the beam, and the optimization objective function is as follows:

[0050]

[0051] Among them, F output To output the target constant force value, D output To output the constant force stroke, t represents the out-of-plane thickness of the beam, w represents the in-plane width of the beam, θ represents the inclination angle of the beam, specifically the inclination angle of the beam within the initial negative stiffness structure, and l represents the length of the beam. The structural parameters of the initial negative stiffness mechanism and the initial positive stiffness mechanism are represented using different subscripts. For example, l... f This represents the length of the beam within the structure with initial positive stiffness.

[0052] The constraint condition is as follows:

[0053]

[0054] Where a, c, and b are the upper limit, lower limit, and interval of the plurality of sensitive initial mechanism parameters, respectively.

[0055] Specifically, the several sensitive initial structural parameters are the beam's out-of-plane thickness, in-plane width, tilt angle, and length, and the specific optimization objective function is:

[0056]

[0057] Among them, Foutput To output the target constant force value, D output To output the constant force stroke, t represents the out-of-plane thickness of the beam, w represents the in-plane width of the beam, θ represents the inclination angle of the beam, and l represents the length of the beam. The specific constraints are as follows:

[0058]

[0059] Where a, c, and b are the upper limit, lower limit, and interval of the plurality of sensitive initial mechanism parameters, respectively.

[0060] To further describe the optimization objective function, a cost function is constructed for description. Specifically, the cost function is as follows:

[0061]

[0062] Where λ is the cost function, α, β, ω, γ and σ are weighting coefficients, and the sum of the weighting coefficients is 1, x is the target constant force value, (F n P n ) represents the selected sample points, F n For force, P n For displacement, k n Let λ be the slope, TDA be the total average deformation, and ESM be the maximum equivalent stress. The weights of α, β, ω, γ, and σ are represented as importance in ANSYS Workbench, including Default, Lower, or Higher. Preferably, α, β, and ω are set to Higher, and the rest to Default. The optimization objective based on the multi-objective genetic algorithm described above is to find the minimum value of λ.

[0063] To further understand the cost function, the polynomial on the right-hand side can also be expanded as follows:

[0064]

[0065] To achieve constant force characteristics, multiple points can be selected as parameters for the objective function during simulation. These points can be represented as (P... n ,F n ), x is the target constant force value, (F n P n ) represents the selected sample points, F n Representative force, P n Represents displacement, therefore (P) max—P1) represents the constant force stroke, requiring all selected target points to be within the error range of the target constant force value. k represents the slope between many points, and the slope between many selected points needs to be 0 to ensure the generation of a constant force interval. TDA represents the overall deformation average, and ESM represents the maximum equivalent stress. In practical work, it is necessary to ensure that TDA is maximized and ESM is minimized to make the optimization more realistic. Therefore, by performing multi-objective genetic algorithm optimization, several final optimized structural parameters can be obtained.

[0066] In this embodiment, optimization is performed based on a multi-objective genetic algorithm, according to the aforementioned preset conditions, optimization objective function, and cost function. Specifically, this includes designing the original model, selecting mechanism parameters, performing multi-objective genetic algorithm optimization, optimizing the mechanism parameters and model, and model comparison and verification steps. The multi-objective genetic algorithm optimization includes steps such as model parameterization, parameter set design, and finite element analysis, which will not be elaborated further here. Thus, several optimized structural parameters are obtained through optimization.

[0067] The method S70 provided in this application embodiment further includes:

[0068] Step S71: Based on the aforementioned optimized structural parameters, establish an optimized solid model in Solidworks;

[0069] Step S72: Use static analysis to obtain the force-displacement characteristic curve of the optimized flexible constant force mechanism;

[0070] Step S73: Compare the force-displacement characteristic curve of the initial flexible constant force mechanism and the force-displacement characteristic curve of the optimized flexible constant force mechanism to determine whether the force-displacement characteristic curve of the optimized flexible constant force mechanism is within the error range of the preset target constant force value, and whether the constant force stroke has increased.

[0071] Step S74: Conduct experiments based on the initial flexible constant force mechanism and the printed entity of the flexible constant force mechanism to verify whether the optimized flexible constant force mechanism is feasible.

[0072] Specifically, based on several optimized structural parameters, an optimized solid model is established in Solidworks software. Then, static analysis is used to obtain the force-displacement characteristic curve of the optimized flexible constant force mechanism. The force-displacement characteristic curves of the initial flexible constant force mechanism and the optimized flexible constant force mechanism are compared to determine whether the optimized flexible constant force mechanism's force-displacement characteristic curve falls within the error range of the preset target constant force value, and whether the constant force stroke has increased. Experiments are conducted using printed entities of the initial and optimized flexible constant force mechanisms to verify the feasibility of the optimized flexible constant force mechanism.

[0073] In one possible embodiment of this application, among several sensitive initial structural parameters, w = 1.1 mm, t = 3 mm, θ = 5 deg ree and l f =20mm. Where w and t represent the positive and negative stiffness beams, i.e., the width and thickness of the initial positive stiffness mechanism and the initial negative stiffness structure, θ represents the inclination angle of the negative stiffness beam, and l f The length of the beam representing positive stiffness is given by several optimized structural parameters: w = 1.0 mm, t = 1.8 mm, θ = 5.1 deg, ree, and l. f =16.9mm. The simulation and experimental results of the optimized flexible constant force mechanism are both within the error range of the target constant force value, and the optimized constant force stroke is significantly larger, making it suitable for the universal optimization of flexible constant force structures.

[0074] The technical solution provided by this invention constructs a feasible initial flexible constant force mechanism and obtains multiple initial structural parameters of the initial flexible constant force structure. The force-displacement characteristic curve of the initial flexible constant force mechanism is analyzed and obtained. Parametric analysis is performed on the multiple initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force structure. Based on the several sensitive initial structural parameters, constraints and an optimization objective function are constructed, and a cost function describing the optimization objective function is constructed. Based on the constraints, the optimization objective function, and the cost function, a multi-objective genetic algorithm is used in ANSYS Workbench to optimize the several sensitive initial structural parameters, obtaining several optimized structural parameters. Using the several optimized structural parameters, the initial flexible constant force mechanism is adjusted to obtain an optimized flexible constant force mechanism, which is then verified. This achieves automatic optimization of multiple parameters of the constant force mechanism, improving the parameter optimization efficiency of the constant force mechanism. It solves the technical problem in the prior art of lacking a method for automatically designing and optimizing parameters based on the constant force mechanism, leading to complex and inefficient parameter optimization methods for constant force mechanisms.

[0075] Example 2

[0076] Based on the same inventive concept as the parameter optimization method for a constant force mechanism in the foregoing embodiments, this invention also provides a system for the parameter optimization method of a constant force mechanism. The system can be implemented in hardware and / or software, and is generally integrated into an electronic device to execute the method provided in any embodiment of this invention. For example... Figure 4 As shown, the system includes:

[0077] The initial structural parameter acquisition module 11 is used to construct a feasible initial flexible constant force mechanism and acquire multiple initial structural parameters of the initial flexible constant force structure.

[0078] The characteristic curve construction module 12 is used to analyze and obtain the force-displacement characteristic curve of the initial flexible constant force mechanism;

[0079] Sensitive initial structural parameter acquisition module 13 is used to perform parametric analysis on the plurality of initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force structure.

[0080] The constraint construction module 14 is used to construct constraints and an optimization objective function based on the aforementioned sensitive initial structural parameters.

[0081] The objective function acquisition module 15 is used to construct a cost function that describes the objective function.

[0082] The optimized structural parameter acquisition module 16 is used to optimize several sensitive initial structural parameters in ANSYS Workbench based on the constraints, optimization objective function and cost function, using a multi-objective genetic algorithm to obtain several optimized structural parameters.

[0083] The constant force mechanism verification module 17 is used to adjust the initial flexible constant force mechanism using the aforementioned optimized structural parameters to obtain an optimized flexible constant force mechanism, and to verify the optimized flexible constant force mechanism.

[0084] Furthermore, the initial structural parameter acquisition module 11 is also used for:

[0085] The stiffness combination mechanism design method is used to design and construct mechanisms with initial negative stiffness and initial positive stiffness.

[0086] By combining the initial negative stiffness mechanism and the initial positive stiffness mechanism, the initial flexible constant force mechanism is obtained;

[0087] Construct the initial theoretical data model of the initial flexible constant force mechanism;

[0088] The initial theoretical data model is imported into Matlab for theoretical model verification to determine whether the initial flexible constant force mechanism is feasible.

[0089] When the initial flexible constant force mechanism is feasible, a manual trial-and-error method is used to adjust the parameters of multiple design structural parameters of the initial flexible constant force structure until the preset conditions are met, thereby obtaining the initial flexible constant force structure and the multiple initial structural parameters.

[0090] Furthermore, the feature curve construction module 12 is also used for:

[0091] Based on the aforementioned initial structural parameters, an initial solid model is constructed using Solidworks.

[0092] The force-displacement characteristic curve of the initial flexible constant force mechanism was obtained by static analysis.

[0093] Furthermore, the constant force mechanism verification module 17 is also used for:

[0094] Based on the aforementioned optimized structural parameters, an optimized solid model is established in Solidworks;

[0095] Static analysis was used to obtain the force-displacement characteristic curve of the optimized flexible constant force mechanism;

[0096] The force-displacement characteristic curves of the initial flexible constant force mechanism and the optimized flexible constant force mechanism are compared to determine whether the force-displacement characteristic curve of the optimized flexible constant force mechanism is within the error range of the preset target constant force value, and whether the constant force stroke has increased.

[0097] Experiments were conducted based on the initial flexible constant force mechanism and the printed entity of the flexible constant force mechanism to verify whether the optimized flexible constant force mechanism is feasible.

[0098] The various units and modules included are divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of this invention.

[0099] Example 3

[0100] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention, showing a block diagram of an exemplary electronic device suitable for implementing the embodiments of the present invention. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. Figure 5 As shown, the electronic device includes a processor 31, a memory 32, an input device 33, and an output device 34; the number of processors 31 in the electronic device can be one or more. Figure 5 Taking a processor 31 as an example, the processor 31, memory 32, input device 33, and output device 34 in an electronic device can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0101] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the parameter optimization method for a constant force mechanism in this embodiment of the invention. The processor 31 executes various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 32, thereby implementing the aforementioned parameter optimization method for a constant force mechanism.

[0102] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A parameter optimization method for a constant force mechanism, characterized in that, The method includes: Construct a feasible initial flexible constant force mechanism and obtain multiple initial structural parameters of the initial flexible constant force mechanism; The force-displacement characteristic curve of the initial flexible constant force mechanism was obtained through analysis; Parametric analysis was performed on the multiple initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force mechanism. Based on the aforementioned sensitive initial structural parameters, constraints and an optimization objective function are constructed. Construct a cost function that describes the optimization objective function; Based on the constraints, optimization objective function, and cost function, a multi-objective genetic algorithm is used in ANSYS Workbench to optimize the several sensitive initial structural parameters and obtain several optimized structural parameters. The initial flexible constant force mechanism is adjusted using the aforementioned optimized structural parameters to obtain an optimized flexible constant force mechanism, and the optimized flexible constant force mechanism is then verified. Analysis yielded the force-displacement characteristic curves of the initial flexible constant force mechanism, including: Based on the aforementioned initial structural parameters, an initial solid model is constructed using Solidworks. The force-displacement characteristic curve of the initial flexible constant force mechanism was obtained by static analysis. The several sensitive initial structural parameters are the beam's out-of-plane thickness, in-plane width, tilt angle, and length, respectively. The optimization objective function is as follows: in, To output the target constant force value, To output constant force stroke, Indicates the out-of-plane thickness of the beam. Indicates the in-plane width of the beam. Indicates the angle of inclination of the beam. The length of the beam is indicated by different subscripts for structural parameters of the initially negative stiffness mechanism and the initially positive stiffness mechanism. The constraint condition is as follows: in, These are the upper limit, lower limit, and interval of the aforementioned sensitive initial structural parameters; The cost function is as follows: in, For the cost function, , , , and These are the weighting coefficients, and the sum of the weighting coefficients is 1. For the target constant force value, ( , () represents the selected sample points. For strength, For displacement, (P) max -P1) represents constant force stroke, Let TDA be the slope, TDA be the total average deformation, and ESM be the maximum equivalent stress. The purpose of the optimization is to obtain... The minimum value.

2. The method according to claim 1, characterized in that, The construction of a feasible initial flexible constant force mechanism includes: The stiffness combination mechanism design method is used to design and construct mechanisms with initial negative stiffness and initial positive stiffness. By combining the initial negative stiffness mechanism and the initial positive stiffness mechanism, the initial flexible constant force mechanism is obtained; Construct the initial theoretical data model of the initial flexible constant force mechanism; The initial theoretical data model is imported into Matlab for theoretical model verification to determine whether the initial flexible constant force mechanism is feasible. When the initial flexible constant force mechanism is feasible, a manual trial-and-error method is used to adjust the parameters of multiple design structural parameters of the initial flexible constant force mechanism until the preset conditions are met, thereby obtaining the initial flexible constant force mechanism and the multiple initial structural parameters.

3. The method according to claim 1, characterized in that, The initial flexible constant force mechanism is adjusted using the aforementioned optimized structural parameters to obtain an optimized flexible constant force mechanism. The optimized flexible constant force mechanism is then verified, including: Based on the aforementioned optimized structural parameters, an optimized solid model is established in Solidworks; The force-displacement characteristic curve of the optimized flexible constant force mechanism was obtained by using static analysis. The force-displacement characteristic curves of the initial flexible constant force mechanism and the optimized flexible constant force mechanism are compared to determine whether the force-displacement characteristic curve of the optimized flexible constant force mechanism is within the error range of the preset target constant force value, and whether the constant force stroke has increased. Experiments were conducted based on the initial flexible constant force mechanism and the printed entity of the flexible constant force mechanism to verify whether the optimized flexible constant force mechanism is feasible.

4. A parameter optimization system for a constant force mechanism, characterized in that, The system is used to perform the method according to any one of claims 1-3, the system comprising: An initial structural parameter acquisition module is used to construct a feasible initial flexible constant force mechanism and acquire multiple initial structural parameters of the initial flexible constant force mechanism. The characteristic curve construction module is used to analyze and obtain the force-displacement characteristic curve of the initial flexible constant force mechanism; The sensitive initial structural parameter acquisition module is used to perform parametric analysis on the multiple initial structural parameters to obtain several sensitive initial structural parameters that have the greatest impact on the constant force characteristics of the initial flexible constant force mechanism. The constraint construction module is used to construct constraints and an optimization objective function based on the aforementioned sensitive initial structural parameters. An optimization objective function acquisition module is used to construct a cost function that describes the optimization objective function; The optimized structural parameter acquisition module is used to optimize several sensitive initial structural parameters in ANSYS Workbench based on the constraints, optimization objective function and cost function, using a multi-objective genetic algorithm to obtain several optimized structural parameters. The constant force mechanism verification module is used to adjust the initial flexible constant force mechanism using the aforementioned optimized structural parameters to obtain an optimized flexible constant force mechanism, and to verify the optimized flexible constant force mechanism.

5. An electronic device, characterized in that, The electronic device includes: Memory, used to store executable instructions; The processor, when executing executable instructions stored in the memory, implements the parameter optimization method for a constant force mechanism as described in any one of claims 1 to 3.

6. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements a parameter optimization method for a constant force mechanism as described in any one of claims 1-3.

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