3-RPC定位机构结构设计
|
摘要
集成式全柔性并联定位机构具有无摩擦和高稳定性的优点,但其结构设计相对复杂,定位精度低,在一些超精密定位领域无法达到定位要求。基于同构性的集成式全柔性并联定位机构,引入拓扑优化设计理论,设计出与同构性集成式全柔性并联定位机构运动特性一致的3-RPC型全柔顺并联定位机构。首先,以3-RPC并联定位机构为研究对象,通过微位移法求解出其输入输出间的映射关系。然后,建立3-RPC集成式全柔性并联定位机构和3-RPC全柔顺并联定位机构三维模型。最后,通过有限元软件对两种定位机构进行静、动力学分析。结果表明:3-RPC全柔顺并联定位机构在定位精度和抗振性均优于同构性的集成式全柔性并联定位机构。
The integrated flexible parallel positioning mechanismhas the advantages of high stability and no friction,In some field of precise positioning,integrated fully flexible parallel positioning mechanism has been unable to meet the accuracy requirements. A new mechanism which is called 3-RPC fully compliant parallel positioning mechanism is designed by the topology optimization design theory. The design of such a new model is based on the configuration and motion characteristics of a 3-RPC integrated fully compliant positioning mechanism. Firstly,taking the 3-RPC parallel positioning mechanism as the research object,the mapping relationship between the input and output is solved by the micro displacement method.Secondly,The model of 3-RPC integrated fully compliant positioning mechanism and 3-RPC fully compliant parallel positioning mechanismare designed. Finally,the static and dynamic analysis of two positioning mechanisms was carried out by the finite element software. The results show that the location accuracy and vibration resistance of 3-RPC fully compliant parallel positioning mechanism are better than its prototype.
The integrated flexible parallel positioning mechanismhas the advantages of high stability and no friction,In some field of precise positioning,integrated fully flexible parallel positioning mechanism has been unable to meet the accuracy requirements. A new mechanism which is called 3-RPC fully compliant parallel positioning mechanism is designed by the topology optimization design theory. The design of such a new model is based on the configuration and motion characteristics of a 3-RPC integrated fully compliant positioning mechanism. Firstly,taking the 3-RPC parallel positioning mechanism as the research object,the mapping relationship between the input and output is solved by the micro displacement method.Secondly,The model of 3-RPC integrated fully compliant positioning mechanism and 3-RPC fully compliant parallel positioning mechanismare designed. Finally,the static and dynamic analysis of two positioning mechanisms was carried out by the finite element software. The results show that the location accuracy and vibration resistance of 3-RPC fully compliant parallel positioning mechanism are better than its prototype.
引文
[1]Tian Y,Shirinzadeh B,Zhang D.Development and dynamic modeling of a flexurebased Scott-Russell mechanism for nano-manipulation[J].Mechanical Systems and Signal Processing,2007,23(3):957-978.
[2]Kota S,Joo J,Li Zhe.Design of Compliant Mechanisms:Applications to MEMS.Analog Integrated Circuits and Signal Processing,2001(29):7-15.
[3]于靖军,毕树生,宗光华.基于伪刚体法的全柔性机构位置分析[J].机械工程学报,2002,38(2):75-78.(Yu Jing-jun,Bi Shu-sheng,Zong Guang-hua.Kinematics analysis of fully compliant Mechanisms using the pseudorigidbody model[J].Journal of Mechanical Engineering,2002,38(2):75-78.)
[4]Kaixuan Hu,Jung H.Kim,James Schmiedeler,Chia-Hsiang Menq.Design,Implementation,and control of asix-axis compliant stage[J].Review of Scientific Instruments,2008,025105(79):1-11.
[5]R.F.Fung,C.T.Fan,W.C.Lin.Design and analysis of a novel six-degreesof-freedom precision positioningtable[C].Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2009(223):1203-1214.
[6]王勇.五自由度纳米级定位精度机构的研制[J].机械设计与制造,2005(2):90-91.(Wang Yong.Development of nano positioning precision mechanism with five degrees of freedom[J].Mechanical Design and Manufacture,2005(2):90-91.)
[7]朱大昌,宋马军.基于多目标拓扑优化的全柔顺并联机构构型固有振动频率研究[J].中国机械工程,2015,26(13):1794-1081.(Zhu Da-chang,Song Ma-jun.Multi-objective topology optimization of full compliant parallel mechanism configuration of the inherent vibration frequency of[J].Chinese Mechanical Engineering,2015,26(13):1794-1081.)
[8]周奇才,吴青龙,熊肖磊.基于拓扑优化和骨架提取的杆系结构设计方法[J].中国工程机械学报,2016,14(1):484-491.(Zhou Qi-cai,Wu Qing-long,Xiong Xiao-lei.Structural design method of bars based on topology optimization and skeleton extraction[J].Proceedings of the Chinese Engineering Society,2016,14(1):484-491.)
[9]曹立波,宋慧斌,武和全.基于拓扑优化的汽车前纵梁耐撞性设计[J].中国机械工程,2016,27(6):827-832.(Cao Li-bo,Song Hui-bin,Wu He-quan.Crashworthiness design of automobile front rail based on topology optimization[J].China Mechanical Engineering,2016,27(6):827-832.)
[10]Kang-Hee,Joe-Yong Park,Min-Gyu lun.Reliablity-based topology optimization of elector-Thermal-Complaint Mechanisms with a New Material Mixing Method[J].International Journal of Precision Eng Ineer an Manufacturing,2012,13(5):693-699.
[2]Kota S,Joo J,Li Zhe.Design of Compliant Mechanisms:Applications to MEMS.Analog Integrated Circuits and Signal Processing,2001(29):7-15.
[3]于靖军,毕树生,宗光华.基于伪刚体法的全柔性机构位置分析[J].机械工程学报,2002,38(2):75-78.(Yu Jing-jun,Bi Shu-sheng,Zong Guang-hua.Kinematics analysis of fully compliant Mechanisms using the pseudorigidbody model[J].Journal of Mechanical Engineering,2002,38(2):75-78.)
[4]Kaixuan Hu,Jung H.Kim,James Schmiedeler,Chia-Hsiang Menq.Design,Implementation,and control of asix-axis compliant stage[J].Review of Scientific Instruments,2008,025105(79):1-11.
[5]R.F.Fung,C.T.Fan,W.C.Lin.Design and analysis of a novel six-degreesof-freedom precision positioningtable[C].Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2009(223):1203-1214.
[6]王勇.五自由度纳米级定位精度机构的研制[J].机械设计与制造,2005(2):90-91.(Wang Yong.Development of nano positioning precision mechanism with five degrees of freedom[J].Mechanical Design and Manufacture,2005(2):90-91.)
[7]朱大昌,宋马军.基于多目标拓扑优化的全柔顺并联机构构型固有振动频率研究[J].中国机械工程,2015,26(13):1794-1081.(Zhu Da-chang,Song Ma-jun.Multi-objective topology optimization of full compliant parallel mechanism configuration of the inherent vibration frequency of[J].Chinese Mechanical Engineering,2015,26(13):1794-1081.)
[8]周奇才,吴青龙,熊肖磊.基于拓扑优化和骨架提取的杆系结构设计方法[J].中国工程机械学报,2016,14(1):484-491.(Zhou Qi-cai,Wu Qing-long,Xiong Xiao-lei.Structural design method of bars based on topology optimization and skeleton extraction[J].Proceedings of the Chinese Engineering Society,2016,14(1):484-491.)
[9]曹立波,宋慧斌,武和全.基于拓扑优化的汽车前纵梁耐撞性设计[J].中国机械工程,2016,27(6):827-832.(Cao Li-bo,Song Hui-bin,Wu He-quan.Crashworthiness design of automobile front rail based on topology optimization[J].China Mechanical Engineering,2016,27(6):827-832.)
[10]Kang-Hee,Joe-Yong Park,Min-Gyu lun.Reliablity-based topology optimization of elector-Thermal-Complaint Mechanisms with a New Material Mixing Method[J].International Journal of Precision Eng Ineer an Manufacturing,2012,13(5):693-699.