Because the requirement for the precision of minimally invasive robot continues to improve,traditional parallel mechanism can not meet the requirements of high precision,the structure optimization design for traditional parallel mechanism is put forward.Establish the displacement vector differential mapping relation of planar 3-RRR type fully compliant parallel mechanism between input and output,according to the topology optimization of material interpolation method to establish SIMP interpolation model,through the sensitivity analysis to determine the iterative changes direction of optimal design variables in the process,nsing the OC algorithm to solve the established model,and solving the problem of checkerboard and mesh dependence by Heaviside filtering technology,3D model is obtained by Solidworks curve fitting,importing the model into Hyperworks for static analysis,The solid model is created by machining,carrying out multiple sets of micro displacement measurement experiment;the static analysis data and the experimental data are compared with the theoretical values.the results show that the "micro displacement method"differential mapping as a condition of optimization,The fully compliant parallel mechanism not only has the same movement characteristics with the traditional parallel mechanism,but also its structure is more simple,motion precision is higher,and verifying the effectiveness of the proposed method,which provides a new way of thinking for the optimum design of plane fully compliant parallel mechanism.%针对目前医疗技术对微创机器人精度要求的不断提高,而传统的并联机构无法满足高精度要求的现状,提出对传统并联机构进行优化设计.建立平面3-RRR并联机构微动情况下输入与输出之间的位移矢量微分映射关系,根据材料插值拓扑优化方法建立平面3-RRR型全柔顺并联机构的SIMP插值模型,通过敏度分析确定优化过程中设计变量的迭代变化方向,用OC算法求解所建立的模型,用Heaviside过滤技术解决棋盘格和网格依赖问题,通过Solidworks曲线拟舍得到三维模型,应用有限元分析软件Hyperworks对其进行静力学分析,通过加工得到实体模型,并进行多次微位移测量试验;将静力学分析数据、实验数据与理论值对比.结果表明:微分映射关系作为优化条件,拓扑优化所得到的全柔顺并联机构与同构型的传统并联机构微分运用特性相同,运动精度更高、结构更加简单,验证了该方法的有效性,为平面全柔顺并联机构的优化设计提供了新思路.
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