锻压技术

3-PRR全柔顺并联机构的水平集多目标拓扑优化设计及灵敏度分析

英文标题：Multi-objective topology optimization design and sensitivity analysis on 3-PRR fully compliance parallel mechanism based on level-set method

作者：王鑫辉常琮尧杜苏睿焦凡苇

单位：中北大学朔州校区

关键词：3-PRR全柔顺并联机构运动同构特性水平集拓扑优化灵敏度分析微运动特性

分类号：TP391

出版年,卷(期):页码：2018,43(1):181-188

摘要：

采用同构映射和微分运动学原理并基于显式运动副的传统3-PRR型并联机构，推导其微运动Jacobian矩阵。基于水平集方法，定义柔度最小化为优化目标函数，以微运动Jacobian矩阵为输入、输出映射的运动约束，以优化前后的材料体积分数为优化约束，构建3-PRR全柔顺并联机构的优化模型，运用OptiStruct优化求解器，求解出3-PRR全柔顺并联机构的最佳构型和设计灵敏度。研究表明：所设计的3-PRR全柔顺并联机构与传统3-PRR型并联机构具有一致的微运动特性，优化结果的柔度值达到最小化的同时，能有效地消除应力集中现象。该理论分析和仿真优化对平面乃至空间弹性微变形机构，甚至是智能蠕动机构的最佳构型设计具有切实可行的意义。

The differential Jacobian matrix was derived by the theory of isomorphic mapping and differential kinematic principle based on traditional 3-PRR parallel mechanism of explicit joints. And according to level-set method, the minimum compliance was defined as optimization objective function, the differential Jacobian matrix was defined as kinetic constraint of input-output mapping relation, and the volume fraction of material before and after optimization was defined as optimal constraint to establish the optimization model of 3-PRR fully compliance parallel mechanism. Furthermore, the optimal configuration and design sensitivity of 3-PRR fully compliance parallel mechanism were solved by optimization solver OptiStruct. The research indicates that the micro movement characteristics of the designed 3-PRR fully compliance parallel mechanism are consistent with that of traditional 3-PRR parallel mechanism, and the phenomenon of stress concentration is eliminated when the compliance of optimization result is up to the minimum. The theory analysis and simulation optimization provide practical meaning for the optimal configuration design of planar and spatial micro elastic deformation mechanism and even intelligent crawling mechanism.

基金项目：

作者简介：王鑫辉（1996- ），男，本科，E-mail：1224702830@qq.com

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