关键词: 全柔顺并联机构, 折衷规划, 平均频率法, 微分矢量同构映射雅可比矩阵, 多目标优化

Abstract:

In order to effectively suppress the influence of random vibration on the ultra precision positioning and processing equipment performance, and to improve the inherent frequency response, a fully compliant parallel mechanism design method was proposed based on multi-objective topology optimization. Based on compromise programming method and average frequency method, the multi-objective optimization function was defined, and volume fraction was adopted as constraint conditions to establish SIMP topology optimization model of planar fully compliant parallel mechanism. According to Optistruct software and the criterion of optimization algorithm, and combining with differential vector isomorphism mapping Jacobian matrix, multi-objective topology optimization design for the configuration of fully compliant parallel mechanism was achieved. The results indicate that the differential movement characteristics of the 3-PRR fully compliant parallel mechanism are the same as prototype of parallel mechanism, and the crossover oscillation of the frequency weakens and convergences obviously during the optimization process.

Key words: fully compliant parallel mechanism, compromise programming method, average frequency method, differential vector isomorphism mapping Jacobian matrix, multi-objective prototype optimization