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刚柔耦合平面并联机构设计及其性能分析.docx

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刚柔耦合平面并联机构设计及其性能分析 Title:DesignandPerformanceAnalysisofaStiffness-ComplianceCoupledPlanarParallelMechanism Abstract: Thedesignandanalysisofastiffnes-compliancecoupledplanarparallelmechanismisinvestigatedinthispaper.Theobjectiveofthisstudyistodevelopamechanismthatcanmanipulateobjectswithhighprecisionwhileprovidingflexibilitytoconformtovaryingenvironmentalconditionsandtaskrequirements.Thedesignprocessinvolvesselectingsuitablelinkages,optimizingthemechanism'sstiffness-compliancecharacteristics,andanalyzingitsperformancethroughnumericalsimulationsandexperimentalvalidation.Theresultsrevealthepotentialoftheproposeddesigninenhancingprecisionandadaptabilityinvariousapplications. Keywords:stiffness,compliance,planarparallelmechanism,design,performanceanalysis 1.Introduction Planarparallelmechanismshavegainedsignificantattentioninvariousfieldsduetotheiradvantagesintermsofhighaccuracy,rigidity,andflexibility.However,conventionalparallelmechanismsoftenlacktheabilitytoadapttovaryingenvironmentalconditionsandtaskrequirements.Therefore,theconceptofstiffnes-compliancecouplingisintroducedtocombinethebenefitsofstiffnessandcomplianceinasinglemechanism.Thispaperpresentsanoveldesignthataimstoachieveabalancebetweenstiffnessandcomplianceinordertoenhancetheoverallperformanceofaplanarparallelmechanism. 2.DesignMethodology Thedesignprocessinvolvesseveralstages,includinginitialconfigurationselection,optimizationofstiffnessandcompliancecharacteristics,andkinematicanalysis.Athoroughstudyofexistingplanarparallelmechanismsisconductedtodeterminethemostsuitablelinkages.Theselectioncriteriaincludethedesiredrangeofmotion,workspacerequirements,andactuationcapabilities.Additionally,themechanism'sstiffnessandcompliancematrixareoptimizedusingmathematicalmethodssuchastopologyoptimizationandfiniteelementanalysis.Theobjectiveistoobtainamechanismthatoffershighrigidityintherequireddirectionswhileallowingforcomplianceinotherdirections.Kinematicanalysisisperformedtoevaluatethemechanism'smotioncapabilitiesandide