3-RPC型并联精密定位机构设计与分析

来源期刊：有色金属科学与工程2012年第6期

论文作者：朱大昌 崔祥府 严智敏

文章页码：102 - 107

关键词：柔顺并联机构；螺旋理论；拓扑优化；有限元分析

Key words：compliant parallel manipulator；screw theory；topology optimization；finite element analysis

摘    要：文中设计了一种新型空间3-RPC型全柔顺并联精密定位机构并对其进行了仿真分析.基于螺旋理论对3-RPC型并联机构进行了构型分析，由各支链的运动螺旋求解出其反螺旋，通过得出的机构自由度进而对该机构空间几何约束条件进行了分析；结合并联机构及拓扑优化理论提出了该柔顺机构的优化模型，采用拓扑优化理论对全柔顺并联机构进行了优化设计，设计出一种不同于传统并联机构的新型全柔顺并联机构；建立了机构的三维模型并在ANSYS有限元分析软件中进行了静力学仿真验证.仿真结果表明，驱动该机构运行时其位移及应力分布合理，终端动平台能够达到微纳米级定位精度要求，从而验证了该设计的可行性和有效性.

Abstract: A new spatial compliant parallel manipulator with 3-RPC used in precision positioning is presented and analyzed in this paper. By assessing the configuration of the manipulator based on the screw theory and thus obtains the movement screws and reciprocal screws of the manipulator, this paper analyzes the spatial geometric constraint conditions based on the degree of freedom of the configuration. Through combining the parallel manipulator and topological optimization theory, the paper puts forward the optimization model and perfects the design of 3-RPC spatial compliant parallel manipulator, and designs a new kind of 3-RPC spatial compliant parallel manipulator which is different from traditional ones. And the paper also establishes the three dimensional model of the parallel manipulator, and carries out statics simulation by using the finite element analysis ANSYS software. The simulation results show that when the compliant parallel manipulator is driven, the displacement deformation and the stress of manipulator has a reasonable distribution, the terminal motion platform can meet the micro-nanometer positioning accuracy requirements. The results of experiments have shown the validation of the theoretical analysis of the mechanism design, and proved its feasibility and effectiveness.