基于柔顺铰链拓扑优化的桥式位移放大机构设计、分析与实验测试

doi:10.3901/JME.2022.11.057

机械工程学报 ›› 2022, Vol. 58 ›› Issue (11): 57-71.doi: 10.3901/JME.2022.11.057

扫码分享

基于柔顺铰链拓扑优化的桥式位移放大机构设计、分析与实验测试

卢清华, 亢诗迪, 陈为林, 韦慧玲, 张云志, 罗陆锋

佛山科学技术学院机电工程与自动化学院佛山 528000

收稿日期:2021-08-10 修回日期:2021-12-03 出版日期:2022-06-05 发布日期:2022-08-08
通讯作者: 陈为林(通信作者),男,1990年生,副教授,硕士研究生导师。主要研究方向为柔顺机构、微纳操作与机器人末端执行器。E-mail:weilin.chen@fosu.edu.cn
作者简介:卢清华,男,1978年生,教授,硕士研究生导师。主要研究方向为机器人机构学与机器视觉检测。E-mail:qhlu@fosu.edu.cn
基金资助:
国家自然科学基金(51805083)、国家重点研发计划项目(2018YFB1308000)、广东省基础与应用基础研究基金——区域联合基金重点项目(2020B1515120070)、广东省基础与应用基础研究基金——区域联合基金青年项目(2020A1515111056)、广东省教育厅重点项目(2018KZDXM074)、广东高校创新团队项目(2020KCXTD015)和广东省普通高校科研项目(2019KTSCX197)资助项目

Design, Analysis and Experimental Test of the Bridge-type Displacement Amplification Mechanism Based on the Topology Optimization of Flexure Hinge

LU Qinghua, KANG Shidi, CHEN Weilin, WEI Huiling, ZHANG Yunzhi, LUO Lufeng

School of Mechatronics Engineering and Automation, Foshan University, Foshan 528000

Received:2021-08-10 Revised:2021-12-03 Online:2022-06-05 Published:2022-08-08

摘要/Abstract

摘要： 柔顺桥式位移放大机构被广泛用作精密定位与微纳操作装备的传动机构，其设计与建模问题是精密工程领域的研究热点。传统研究并未解决配置何种拓扑结构的柔顺铰链能设计出具有最优输出特性的桥式位移放大机构的问题，而现有的柔顺铰链拓扑优化研究一般不考虑实际柔顺机构的内力分布特性，影响了拓扑优化结果在实际柔顺机构中的应用效果。对基于柔顺铰链拓扑优化的桥式位移放大机构进行了设计、分析与实验测试。首先，在柔顺铰链拓扑结构未知的条件下，分析桥式位移放大机构的内力分布特性。结合内力分布特性与变密度法，以最大化柔度为目标函数，对柔顺铰链进行拓扑优化设计，从优化柔顺铰链拓扑结构层面提升机构输出特性。在不同体积约束条件下，桥式位移放大机构柔顺铰链的拓扑优化结果均呈V字型结构。然后，运用矩阵位移法、卡氏第二定理与并联机构柔度矩阵的关系，对V字型柔顺铰链进行静力学建模。结合V字型柔顺铰链柔度矩阵、桥式位移放大机构内力分布特性与串联机构柔度矩阵的关系，推导出基于柔顺铰链拓扑优化的桥式位移放大机构输出位移与输入力之间的解析关系，并对机构进行尺寸优化设计，进一步提升机构输出特性。有限元仿真与实验测试验证了桥式位移放大机构柔顺铰链的拓扑优化结果、V字型柔顺铰链静力学建模与机构尺寸优化设计的有效性。

关键词: 柔顺铰链, 拓扑优化, 桥式位移放大机构, 尺寸优化

Abstract: Bridge-type compliant displacement amplification mechanisms (CDAMs) have been widely used as transmission mechanisms for precision positioning and micro-nano-manipulation equipments. In the field of precision engineering, the design and modeling of bridge-type CDAMs are key issues. Traditional researches have not solved the problem that which kind of topological structure for the flexure hinges makes the output performances of bridge-type CDAMs the best. Existing researches on the topology optimization of flexure hinges generally do not consider the distribution property of internal forces for an actual compliant mechanism, which affects the application effect of topology optimization results in the actual compliant mechanism. In this paper, a bridge-type CDAM based on the topology optimization of flexure hinge is designed, analyzed and tested experimentally. Firstly, in the condition that the topological structure of flexure hinges is unknown, the distribution property of internal forces for a bridge-type CDAM is carried out. With a combination of the distribution property of internal forces and the variable density method, taking the maximum compliance as the objective function, the topology optimization of flexure hinge was conducted, which improves the output property of CDAM from the perspective of optimizing the topological structure of flexure hinge. Under different volume constraints, the topology optimization results of flexure hinge in a bridge-type CDAM are all V-shaped structures. Then, using the matrix displacement method, the distribution property of internal forces for the bridge-type CDAM and the relationship among the compliance matrixes of a parallel mechanism, the static model of V-shaped flexure hinge was established. With a combination of the compliance matrix of a V-shaped flexure hinge, the distribution property of internal forces and the relationship among the compliance matrixes of a serial mechanism, the analytical relation between the output displacement and the input force of bridge-type CDAM based on the topology optimization of flexure hinge was derived. The parametric optimization of CDAM was carried out to further improve the output property of CDAM. Finite element simulation and experimental tests verified the effectiveness of topology optimization results for the flexure hinge in a bridge-type CDAM, static modelling of V-shaped flexure hinge and parametric optimization of CDAM.

Key words: flexure hinge, topology optimization, bridge-type displacement amplification mechanism, parametric optimization

中图分类号:

TH112

卢清华, 亢诗迪, 陈为林, 韦慧玲, 张云志, 罗陆锋. 基于柔顺铰链拓扑优化的桥式位移放大机构设计、分析与实验测试[J]. 机械工程学报, 2022, 58(11): 57-71.

LU Qinghua, KANG Shidi, CHEN Weilin, WEI Huiling, ZHANG Yunzhi, LUO Lufeng. Design, Analysis and Experimental Test of the Bridge-type Displacement Amplification Mechanism Based on the Topology Optimization of Flexure Hinge[J]. Journal of Mechanical Engineering, 2022, 58(11): 57-71.

参考文献

[1] LAI Leijie, ZHU Zina. Design, modeling and testing of a novel flexure-based displacement amplification mechanism[J]. Sensors & Actuators:A. Physical, 2017, 266:122-129.
[2] QI Keqi, XIANG Yang, FANG Chao, et al. Analysis of the displacement amplification ratio of bridge-type mechanism[J]. Mechanism and Machine Theory, 2015, 87:45-56.
[3] XU De, LI Fudong, ZHANG Zhengtao, et al. Characteristic of monocular microscope vision and its application on assembly of micro-pipe and micro-sphere[C]//Proceedings of the 32nd Chinese Control Conference. Xi'an:32nd Chinese Control Conference, 2013:5758-5763.
[4] DONG Wei, CHEN Fangxin, YANG Miao, et al. Development of a highly efficient bridge-type mechanism based on negative stiffness[J]. Smart Materials and Structures, 2017, 26(9):095053.
[5] CHEN Weilin, ZHANG Xianmin, FATIKOW Sergej. Design, modeling and test of a novel compliant orthogonal displacement amplification mechanism for the compact micro-grasping system[J]. Microsystem Technologies, 2017, 23(7):2485-2498.
[6] LU Qian, HUANG Weiqing, SUN Mengxin. The optimization design of lever type flexible hinge amplification mechanism based on compliance ratio[J]. Optical Precision Engineering, 2016, 24(1):102-111. 卢倩, 黄卫清, 孙梦馨. 基于柔度比优化设计杠杆式柔性铰链放大机构[J]. 光学精密工程, 2016, 24(1):102-111.
[7] LIU Min, ZHANG Xianmin. Micro displacement amplification mechanism based on type V flexure hinge[J]. Optical Precision Engineering, 2017, 25(4):467-476. 刘敏, 张宪民. 基于类Ⅴ型柔性铰链的微位移放大机构[J]. 光学精密工程, 2017, 25(4):467-476.
[8] LOBONTIU N, GARCIA E. Analytical model of displacement amplification and stiffness optimization for a class of flexure-based compliant mechanisms[J]. Computers and Structures, 2003, 81(32):2797-2810.
[9] MA Hongwen, YAO Shaoming, WANG Liquan, et al. Analysis of the displacement amplification ratio of bridge-type flexure hinge[J]. Sensors & Actuators:A-Physical, 2005, 132(2):730-736.
[10] QI Keqi, XIANG Yang, FANG Chao, et al. Analysis of the displacement amplification ratio of bridge-type mechanism[J]. Mechanism and Machine Theory, 2015, 87:45-56.
[11] LING Mingxiang, LIU Qian, CAO Junyi, et al. Mechanical analytical model and finite element analysis of piezoelectric displacement amplification mechanism[J]. Optical Precision Engineering, 2016, 24(4):812-818. 凌明祥, 刘谦, 曹军义, 等. 压电位移放大机构的力学解析模型及有限元分析[J]. 光学精密工程, 2016, 24(4):812-818.
[12] LIU Pengbo, YAN Peng. A new model analysis approach for bridge-type amplifiers supporting nano-stage design[J]. Mechanism and Machine Theory, 2016, 99:176-188.
[13] WEI Huaxian, SHIRINZADEH Bijan, LI Wei, et al. Development of piezo-driven compliant bridge mechanisms:General analytical equations and optimization of displacement amplification[J]. Micromachines, 2017, 8(8):238.
[14] KIM J, KIM S, KWAK Y. Development and optimization of 3-D bridge-type hinge mechanisms[J]. Sensors and Actuators, A. Physical, 2004, 116(3):530-538.
[15] XU Qingsong, LI Yangmin. Analytical modeling, optimization and testing of a compound bridge-type compliant displacement amplifier[J]. Mechanism and Machine Theory, 2011, 46(2):183-200.
[16] LING Mingxiang. A general two-port dynamic stiffness model and static/dynamic comparison for three bridge-type flexure displacement amplifiers[J]. Mechanical Systems and Signal Processing, 2019, 119(15):486-500.
[17] LAI Leijie, MEI Junhua, ZHU Zina. Study on static and dynamic performance of bridge displacement amplification mechanism with distributed compliance[J]. Piezoelectricity And Sound And Light, 2018, 40(2):251-256. 赖磊捷, 梅峻华, 朱姿娜. 分布柔度桥式位移放大机构静动力学性能研究[J]. 压电与声光, 2018, 40(2):251-256.
[18] CHEN Weilin, LU Qinghua, QIAO Jian, et al. Nonlinear modeling and optimization of compliant bridge displacement amplification mechanism[J]. Optical Precision Engineering, 2019, 27(4):849-859. 陈为林, 卢清华, 乔健, 等. 柔顺桥式位移放大机构的非线性建模与优化[J]. 光学精密工程, 2019, 27(4):849-859.
[19] LOBONTIU N. Compliant mechanisms:Design of flexure hinges[M]. CRC Press, 2020.
[20] CHEN Fangxin, GAO Futian, DU Zhijiang, et al. Modeling, analysis and test of 3d bridge amplification mechanism based on hybrid hinge[J]. Journal of Mechanical Engineering, 2018, 54(13):110-116. 陈方鑫, 高福天, 杜志江, 等. 基于混合铰链的三维桥式放大机构的建模、分析与试验[J]. 机械工程学报, 2018, 54(13):110-116.
[21] CHEN Weilin, LU Qinghua, KONG Chuiwang, et al. Design, analysis and validation of the bridge-type displacement amplification mechanism with circular-axis leaf-type flexure hinges for micro-grasping system[J]. Microsystem Technologies, 2019, 25(3):1121-1128.
[22] YANG Chunhui, LIU Pingan. Design and calculation of flexibility of circular arc flexible ball joints[J]. Journal of Engineering Design, 2014, 21(4):389-392. 杨春辉, 刘平安. 圆弧型柔性球铰柔度设计计算[J]. 工程设计学报, 2014, 21(4):389-392.
[23] LOBONTIU N, PAINE J S N, GARCIA E, et al. Corner-filleted flexure hinges[J]. Journal of Mechanical Design, 2001, 123(3):346-352.
[24] SMITH S T, BADAMI V G, DALE J S, et al. Elliptical flexure hinges[J]. Review of Scientific Instruments, 1997, 68(3):1474-1483.
[25] LOBONTIU N, PAINE J S N, O'MALLEY E, et al. Parabolic and hyperbolic flexure hinges:Flexibility, motion precision and stress characterization based on compliance closed-form equations[J]. Precision Engineering, 2002, 26(2):183-192.
[26] WANG Nianfeng, LIANG Xiaohe, ZHANG Xianmin. Pseudo-rigid-body model for corrugated cantilever beam used in compliant mechanisms[J]. Chinese Journal of Mechanical Engineering, 2014, 27(1):122-129.
[27] YANG Miao, DU Zhijiang, CHEN Yi, et al. Mechanical modeling and deformation characteristics analysis of cross spring flexure hinge with variable section[J]. Journal of Mechanical Engineering, 2018, 54(13):73-78. 杨淼, 杜志江, 陈依, 等. 变截面交叉簧片柔性铰链的力学建模与变形特性分析[J]. 机械工程学报, 2018, 54(13):73-78.
[28] LIU Min, ZHANG Xianmin, FATIKOW Sergej. Design and analysis of a high-accuracy flexure hinge[J]. Review of Scientific Instruments, 2016, 87(5):55101-55106.
[29] QIU Lifang, CHEN Haixiang, WU Youwei. Topology design and compliance analysis of a novel uniaxial flexure hinge[J]. Journal of Beijing University Of Aeronautics And Astronsutics, 2018, 44(6):1133-1140. 邱丽芳, 陈海翔, 吴友炜. 新型单轴柔性铰链拓扑结构设计与柔度分析[J]. 北京航空航天大学学报, 2018, 44(6):1133-1140.
[30] ZHOU M, ROZVANY G I N. DCOC:An optimality criteria method for large systems part Ⅰ:theory[J]. Structural Optimization, 1992, 5(1-2):12-25.
[31] WU Heng, ZHANG Xianmin, WANG Ruizhou, et al. Displacement measurement of the compliant positioning stage based on a computer micro-vision method[J]. Aip Advances, 2016, 6(2):25009.
[32] LI Hai, ZHU Benliang, ZHANG Xianmin, et al. Pose sensing and servo control of the compliant nanopositioners based on microscopic vision[J]. IEEE Transactions on Industrial Electronics, 2021, 68(4):3324-3335.
[33] GUELPA V, LAURENT G, SANDOZ P, et al. Vision-based microforce measurement with a large range-to-resolution ratio using a twin-scale pattern[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(6):1-9.

基于柔顺铰链拓扑优化的桥式位移放大机构设计、分析与实验测试

Design, Analysis and Experimental Test of the Bridge-type Displacement Amplification Mechanism Based on the Topology Optimization of Flexure Hinge

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	高强, 王健, 张严, 郑旭阳, 吕昊, 殷国栋. 拓扑优化方法及其在运载工程中的应用与展望[J]. 机械工程学报, 2024, 60(4): 369-390.
[2]	纵怀志, 艾吉昆, 张军辉, 江磊, 谭树杰, 刘余贤, 苏琦, 徐兵. 基于拓扑优化和晶格填充的四足机器人肢腿单元轻量化设计[J]. 机械工程学报, 2024, 60(4): 420-429.
[3]	林起崟, 贾一鸣, 周意葱, 王晨, 洪军. 面向装配结构的拓扑优化参数影响分析[J]. 机械工程学报, 2024, 60(15): 291-303.
[4]	孙雨欣, 蔡守宇, 张旭, 王珂. 基于自适应特征驱动法的散热结构拓扑优化设计[J]. 机械工程学报, 2024, 60(15): 346-357.
[5]	肖蜜, 李奇石, 高亮, 沙伟, 黄明喆. 基于各向异性材料插值的点阵散热结构跨尺度拓扑优化[J]. 机械工程学报, 2024, 60(13): 71-80.
[6]	李宝童, 刘策, 洪军, 刘庆芳, 史萌, 李开泰. 复杂热流承载结构拓扑优化设计研究[J]. 机械工程学报, 2024, 60(13): 92-121.
[7]	郑静, 荣轩霈, 姜潮, 米栋, 李加强. 考虑惯性载荷的结构热力耦合拓扑优化[J]. 机械工程学报, 2024, 60(13): 130-140.
[8]	朱继宏, 张亦飞, 侯杰, 李祥吉, 张卫红. 考虑动力学响应的天线座拓扑-自由尺寸协同优化设计[J]. 机械工程学报, 2024, 60(11): 20-31.
[9]	白影春, 刘康, 李超, 韩旭. 基于大规模并行计算的三维薄壁填充结构特征频率拓扑优化设计[J]. 机械工程学报, 2024, 60(11): 32-40.
[10]	宗子凯, 肖蜜, 周冕, 沙伟, 高亮. 考虑局部过热约束的自支撑结构等几何拓扑优化[J]. 机械工程学报, 2024, 60(11): 41-52.
[11]	周意葱, 林起崟, 王晨, 邵衡, 洪军. 装配体结构与装配界面材料刚度协同优化方法[J]. 机械工程学报, 2024, 60(11): 53-61.
[12]	黄明喆, 肖蜜, 刘喜亮, 沙伟, 周冕, 高亮. 面向散热性能的多孔结构多尺度等几何拓扑优化[J]. 机械工程学报, 2024, 60(1): 54-64.
[13]	许洁, 高杰, 肖蜜, 高亮. 基于等几何拓扑优化的柔性机构设计[J]. 机械工程学报, 2024, 60(1): 137-148.
[14]	崔宇朋, 余杨, 韦明秀, 李振眠, 余建星. 改进博弈论四重组合赋权法下的开口甲板多目标拓扑优化设计[J]. 机械工程学报, 2023, 59(9): 263-273.
[15]	占金青, 晏家坤, 蒲圣鑫, 朱本亮, 刘敏. 基于等几何分析的电热驱动柔顺机构拓扑优化设计[J]. 机械工程学报, 2023, 59(21): 177-187.