Modeling And Structure Optimization Analysis Of Rigid-flexible Coupling System For 3-PSP Parallel Mechanism

Parallel mechanism is an emerging issue in the field of machinery and equipment,domestic and foreign scholars have done a lot of research work.That has a strong bearing capacity,the small accumulation of errors,large stiffness,high precision,good power performance,so it has good development prospects in manufactruing domain.Parallel mechanism because of its characteristics make up for lack of the joint clearance and cantilever hinged deformation of the cantilever machine,but connecting rod deformation and the vibration of the system is still the main influence for the precision of the parallel mechanism.Therefore,the impact of the elastic defornation of the parallel mechanism on its precision and dynamic characteristic is still an problem taht should not be neglected in the study,especially the practical motion the link in will have a significant impact on the machining accuracy of the entire mechanism.On the basis of other’s researches,this dissertation takes a 3-PSP of three degree of freedom parallel mechanism as the main research object,analysis its structure,applies the virtual prototype technique on the study of motion simulation of parallel mechanism to deal with the link to be flexible and by establishing the rigid-flexible coupling system model of that,completes the analysis and simulation research of kinematics and dynamics of the virtual prototype model.Using the finite element software and aiming for lightweight,this paper optimizes the structure of 3-PSP parallel mechanism by topology optimization,by comparison of results before and after on strength,strain,modal frequency and buckling,that makes a meaningful try for reaching efficiency design and research of the parallel mechanism with. The specific content as follows:(1)The back ground of the study and the developing history and current situation of parallel mechanism are discussed. Methods and the advantages of the previous reasearch are summarized. Then the rigid-flexible coupling system and the basic concept of topology optimization are surveyed.At last the practicability of appling virtual prototype technology on design and simulation of the parallel mechanism is pointed out.(2)This paper studies posture analysis of the 3-PSP parallel mechanism by using closed-loop vector method,structuring the kinematics equations of the mechanism and carring out the pose inverse and positive solution. Doing kinematics simulation of the 3-PSP parallel mechanism with the dynamics software ADAMS,analizing the displacement, velocity and acceleration curves of the driving deputy, which is compared with the theoretical calculations to verify the accuracy of the virtual prototype model methed. Based on the kinematics simulation analysis,analyzes the inverse solution of kinematics of the mechanism,predict the motor driving force and determining its rated power range.(3)Modeling of rigid-flexible coupling system of the 3-PSP parallel mechanism by using Solidworks, ANSYS and ADAMS virtual prototype software.Doing flexible process of the link, which is the main accuracy part of the entire organization, considering its impact on the institution’s elastic deformation, proving that the rigid-flexible coupled system is the virtual prototype methed of establishing parallel mechanism,which can react more real in the actual situation.(4)In order to make the 3-PSP parallel mechanism structure is more reasonable, more economical timber, reach and cost-effective manufacturing purposes.Complete the topology optimization design for the the main components of the mechanism by finite elements softwares ANSYS Workbench, and the optimization results are analysied through checking,to compare with the previous optimization,it shows that the results are very practicable and the method to optimize the structure of parallel mechanism is very valuable to the study of design and application.It’s passable to anasy and evaluate the performance of the institutions through the mechanical system model,just based on the virtual prototype technology.And it provides reference for design and making of physical prototype. In this paper, modeling and simulating the rigid-flexible system of 3-PSP parallel mechanism by using virtual prototype technology.It prove that the deformation of flexible effect on the institution, and compared with theoretical formula,to prove the correctness of the proposed.And through the analysis of the structure optimization of institutions,add the corresponding constraints,on the basis of meet the strength and stiffness to reduce the quality of institutions and to design a new topology model.For the similar research provides a reliable method and reference opinions,so this paper research methods and conclusions are of important reference value on the basis of theoretical research.