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Optimal structural design of a planar parallel platform for machining

机译：用于加工的平面平行平台的最佳结构设计

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摘要

Parallel manipulators have many advantages over traditional serial manipulators. These advantages include high accuracy, high stiffness and high load-to-weight ratio, which make parallel manipulators ideal for machining operations where high accuracy is required to meet the requirements that modern standards demand. Recently, the finite element method has been used by some workers to determine the stiffness of spatial manipulators. These models are mainly used to verify stiffness predicted using kinematic equations, and are restricted to relatively simple truss-like models. In this study, state-of-the-art finite elements are used to determine the out of plane stiffness for parallel manipulators. Euler-Bernoulli beam elements and flat shell elements with drilling degrees of freedom are used to model the platform assembly. The main objective of this study is to quantify the stiffness, particularly the out of plane stiffness, of a planar parallel platform to be used for machining operations. The aim is to obtain a design that is able to carry out machining operations to an accuracy of 10 μm for a given tool force. Reducing the weight of a parallel manipulator used in machining applications has many advantages, e.g. increased maneuverability, resulting in faster material removal rates. Therefore the resulting proposed design is optimized with respect to weight, subject to displacement and stress constraints to ensure feasible stiffness and structural integrity. The optimization is carried out by means of two gradient-based methods, namely LFOPC and Dynamic-Q.
机译：与传统的串行机械手相比，并联机械手具有许多优势。这些优势包括高精度，高刚度和高负载重量比，这使得并联机械手非常适合需要高精度以满足现代标准要求的机械加工操作。最近，一些工人已经使用有限元方法来确定空间操纵器的刚度。这些模型主要用于验证使用运动学方程预测的刚度，并且仅限于相对简单的桁架式模型。在这项研究中，使用最先进的有限元确定并联机械手的平面外刚度。具有钻孔自由度的Euler-Bernoulli梁单元和扁平壳单元用于对平台组件进行建模。这项研究的主要目的是量化用于加工操作的平面平行平台的刚度，特别是平面外刚度。目的是获得一种设计，对于给定的工具力，该设计能够以10μm的精度执行机加工操作。减轻用于加工应用中的并联机械手的重量具有许多优点，例如，提高了可操作性，从而加快了材料去除速度。因此，最终提出的设计在重量方面进行了优化，并受到位移和应力约束，以确保可行的刚度和结构完整性。优化是通过两种基于梯度的方法进行的，即LFOPC和Dynamic-Q。

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