Design Of Planar Complaint Parallel Manipulator By Topology Optimization

Compliant parallel manipulator integrates the features of the flexible and parallel mechanism.Compliant parallel manipulator is widely applicated in many fields such as advancedmanufacturing,precision equipment, Nan-scale positioning and biological engineering. With thedevelopment of the application of planer compliant parallel manipulator, the demand for differentconfigurations of planer compliant parallel manipulator is also growing. Designing ofconfiguration of compliant parallel manipulator is confronted with new challenges.Therefore,simple and practical innovation design theory and method should be introduced. Thishasbecomea newpinotin theresearchofthecompliantparallelmanipulatordesign.In this paper,planer compliant parallel manipulator is used as the research object. Based ontopology optimization theory, configuration of planar compliant parallel manipulator is designed.The designed planer compliant parallel manipulator is analysis by using finite element software.The effective of the method which applied the topology optimization theory in designing figure ofplaner compliant parallel manipulator is verified. Do research from the following several aspects inthispaper:(1)SIMP model of planar2-DOF full compliant parallel manipulator is established andsolved by OC algorithm.Checkerboard and grid depends on pathological problems are eliminatedby filtering technology in the numerical solution. The topology figure is processed by imagesmoothing filtering technology in post-process and the outline border of planar2-DOF compliantparallel manipulator is obtained.Static analysis of this manipulator is made by using finite elementsoftware. The results show that the feature of Micro-kinematic meets the design required. Theeffectivenessoftheproposedmethodis quantitativeverified.(2) SIMP model for single sub-chain of planar3-DOF compliant parallel manipulator isestablished and solved by OC algorithm. Checkerboard and grid depends on pathological problemsis eliminated by filtering technology in the numerical solution.The topology figure is processed byimage smoothing filtering technology in post-process and the outline border of single sub-chainof planar3-DOF full compliant parallel manipulator is obtained.Static analysis of this mechanismis made by using finite element software. The results show that the feature of Micro-kinematicmeetsthedesign required.Theeffectivenessoftheproposedmethodisqualitativeverified.(3) Based on differential kinematics of planar3-DOF parallel manipulator, the mappingrelationship between output and input is derivatized. The SIMP model of unitary planar3-DOF fullcomplaint parallel manipulator is established based on this mapping relationship and solved by OC algorithm.Checkerboard and grid depends on pathological problems are eliminated filteringtechnology in the numerical solution. The topology figure is process by image smoothing filteringtechnology in post-process and obtain the outline border of unitary planar3-DOF complaintparallel manipulator.Static analysis of this mechanism is made by using finite element software.Based on differential kinematics analysis the feature of unitary planar3-DOF complaint parallelmechanism Micro-kinematic meets the design required.The effectiveness of the proposed methodisquantitativeverified.This paper bases on topology optimization and regard complaint parallel manipulator as theresearch subject. Complaint parallel mechanism configuration design、topology optimization andperformance analysis are organic combined. The topology optimization for full compliant parallelmechanismis preliminaryimplement.