Design Of Space Complaint Parallel Manipulator By Topology Optimization

Precision manufacturing has become an important symbol of measuring a country‘s manufacturing level.It has been widely applied in precision manufacturing,aerospace,automotive,mems,medical and other fields.With the development of the applications,the requirement of Space fully compliant parallel mechanism is becoming more and more high,which create a new challenge for the design of space fully compliant parallel mechanism.Thus,introducing a simple and efficient design method to design space fully compliant parallel mechanism has become a new hot topic for the research.In this chapter,we will take space fully compliant parallel mechanism as the research object,and introduce the theory of topology optimization to the design of space fully compliant parallel mechanism configuration,also optimize the design of the fully compliant parallel mechanism after combining with the finite element analysis software,then prove the validity and rationality quantitatively of the design method,This article mainly launches the research from the following aspects:(1)Take the 3-RPC space three degree of freedom(three translation)parallel mechanism as the body,first of all,analyze its differential kinematics,concluded the mapping relationship between input and output,Then according to the topology optimization design method of parallel mechanism optimization design,and all the design of compliant parallel mechanism for statics analysis,finally compare the analysis results with the traditional parallel mechanism kinematics characteristics,to verify the scientific nature and effectiveness of the topology optimization design method.(2)Take the 4-RPTR space three degree of freedom(three translation and one rotate)parallel mechanism as the body,first of all,analyzed its characteristics based on theory of screw,then concluded that the motion state,then according to the theory of topology optimization design of parallel mechanism,and smooth on all four degrees of freedom parallel mechanism for statics analysis,quantitative verified the validity and rationality of the method.(3)For three or four degrees of freedom for the design of the space fully compliant parallel mechanism,On the basis of the finite element model is set up respectively for both the constraints of the modal analysis,Get each order modal natural frequencies and formations of space three or four degrees of freedom fully compliant parallel mechanism.In this paper,based on the topology optimization design method,introduce three or four degrees of freedom parallel mechanism as the research object,organic combination of the two,design the space three or four degrees of freedom fully compliant parallel mechanism configuration,implemented the design of spatial parallel mechanism from the aspect of structure topology.