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多自由度柔顺机构在微动精密定位和精密操作等领域有广泛的应用,并且柔顺机构拓扑优化后所得机构都是锯齿状跳跃边界的几何图像,不能直接应用于工程实际,因而对多自由度柔顺机构拓扑优化、提取与试验研究就显得十分必要。基于此,以二维微执行器为例,进行多自由度柔顺机构几何非线性拓扑优化、拓扑图提取与试验研究。首先,给出了考虑耦合抑制输出的多输入多输出柔顺机构几何非线性拓扑优化数学模型及优化算法。其次,针对柔顺机构性能特点,给出了一种拓扑提取方法。提取过程包括灰度图像二值化、密度等值线方法边界近似和曲线重构三个部分。最后,以二维微执行器为基础,采用线切割加工工艺,研制了二维微执行器原型,并对其位移性能进行了试验测试,结果表明,该二维微执行器试验结果与理论分析结果基本吻合,达到了设计要求,同时也验证了所提方法的有效性。
Multi-DOF compliance mechanism is widely used in micro-precision positioning and precision operation field. The topological optimization of compliant mechanism is a geometric image of jagged jumping boundary, which can not be directly applied to engineering practice. Therefore, multi-DOF Supplement topology optimization, extraction and experimental research is necessary. Based on this, taking the two-dimensional micro-actuator as an example, the geometric nonlinear topological optimization, topological map extraction and experimental research of multi-DOF compliance mechanism are carried out. First of all, the geometrically nonlinear topological optimization mathematical model and optimization algorithm of multi-input multi-output compliant mechanism considering coupled suppression output are given. Secondly, aiming at the performance characteristics of compliant mechanism, a topology extraction method is given. The extraction process includes three parts: grayscale image binarization, density contour method, boundary approximation and curve reconstruction. Finally, based on the two-dimensional micro-actuator, using the wire-cutting process, a prototype of two-dimensional micro-actuator was developed and its displacement performance was tested. The results show that the two-dimensional micro-actuator test results and theoretical analysis The results are basically in line with the design requirements, but also verify the effectiveness of the proposed method.