六自由度并联柔性机构设计分析与优化

摘要

从自由度和约束角度进行机构设计与分析的螺旋理论，是柔性机构设计的重要方法之一。基于螺旋理论设计了一种六自由度的全柔性微动平台，并利用有限元分析软件对其进行相应的位移、应力和模态分析。通过平台的有限元分析，获取影响平台的主要结构参数，并将其作为柔性铰链的优化设计参数，为新型多自由度柔性机构的设计提供借鉴。%Screw theory of mechanism design and analysis is one of the important methods of compliant manipulator design from the viewpoint of freedom and constraint.A six degrees of freedom of flexible micro platform that based on the screw theory has been de-signed,and finite element analysis software is used for the corresponding analysis of the drift strain and modal analysis on the platform.Through finite element anal-ysis of the platform,the article has get the main struc-tural parameters affecting the platform,as optimal de-sign parameters of flexible hinge.The design will also contribute to the design of new type multi degree of freedom flexible mechanism.