柔顺并联机构结构优化与动力学仿真

摘要

A new structural optimization method for the optimization of stiffness and dynamic characteristics of multi degree of freedom compliant parallel mechanism is presented,including the optimization of stiffness and dynamic optimization,termed as the beam structure optimization method. The curved-and-twisted beam parameters were optimized in stiffness optimization,and a new analytical approach is introduced to normal-ize the differences in the units. The aim of dynamic optimization is that obtained the dynamic structure char-acteristics required and maintained the optimized stiffness. In order to verify the validity of the method,Mat-lab genetic algorithm solver and ANASY finite element simulation software are used to calculate and simu-late the 3 degree of freedom compliant parallel mechanism(θx-θy-Z). The optimized 3 degree of freedom compliant parallel mechanism can not only realize the larger workspace,but also can achieve a larger stiff-ness ratio and rotational stiffness over 200 and 4000,respectively.%针对多自由度柔顺并联机构刚度优化和动力学特性优化,提出一种新的柔顺并联机构结构优化方法,包括刚度优化与动力学优化两个过程,称为梁结构优化方法.刚度优化过程中对弯-扭梁结构的参数进行优化,同时对刚度矩阵每个元素单位进行统一,动力学优化的目的是在保持最佳刚度的同时获得所需要的结构动态特性.为了验证该方法的有效性,综合3自由度柔顺并联机构(θx-θy-Z) 并利用Matlab遗传算法求解器和ANASY有限元仿真软件对其进行计算以及仿真分析.计算结果和仿真结果显示,优化得到的3自由度柔顺并联机构不仅能够实现较大的工作空间,而且其移动刚度比和转动刚度比分别大于200和4000,证明了该方法的有效性.