Research On Integrated And Optimization Design Of The Parallel Micromanipulator Based On Motion/Force Transmission

The parallel mechanism can optimize the flexible mechanism to a certain extent and make up for its shortcomings due to its own advantages of high precision,large rigidity and small size.Therefore,the rigid hinge can be replaced by a flexible hinge in the mechanism design to make it a parallel micromanipulator.Among them,the 3-DOF parallel micromanipulator can be widely used in engineering fields such as aerospace,precision positioning,and biomedicine.The purpose of this paper is to find a comprehensive design method for a 3-DOF high-motion/force-transmitting parallel micromanipulator,so as to reduce the energy loss of the mechanism during the movement.Based on the screw theory,a series of 3-DOF high-motion/force transmission performance parallel micromanipulator is synthesized,which enriches the new configuration of parallel micromanipulator.This article starts with research from two aspects of organization configuration and scale optimization.The main contents are as follows:Firstly,the theoretical basis of the comprehensive design of the mechanism is briefly introduced,including the atlas method,motion/force transmission evaluation indicators and some commonly used flexible hinges;based on the spiral theory and atlas method,the“two rotational degrees of freedom” and “one translational degree of freedom”(2R1T),three translational degrees of freedom(3T),“two translational degrees of freedom” and“one rotational degree of freedom”(2T1R)parallel micromanipulator’s degree of freedom space,constraint space,and actuation space are expressed intuitively,the motion/force transmission performance is quoted as an evaluation index to the parallel micromanipulator,and the parallel micromanipulator with high motion/force transmission performance is obtained accordingly.The layout law of the moving mechanism.Secondly,on the basis of obtaining the layout law of the parallel micromanipulator with high motion/force transmission performance,a series of 3T,2R1 T,2T1R parallel micromanipulator were comprehensively designed based on the screw theory,and a part of the mechanism was established.The three-dimensional model,and select the typical3-RPC,3-RPS,3-RRR parallel micro-motion mechanism for kinematics analysis and use MATLAB programming to verify the motion force transmission index,then based on the flexibility matrix superposition method to analyze the static stiffness of the three mechanisms,and use ANSYS software to simulate and verify the stiffness characteristics of the mechanism.Finally,a method based on the flexibility to measure the internal motion/force transmission of the mechanism and reduce parasitic motion is proposed.Based on this method,the parameters of the 3-RPS parallel micromanipulator are optimized,the three-dimensional model of the optimized mechanism is established,and the finite element method is used to verify the energy utilization efficiency of the mechanism and the size of the parasitic motion are obtained,and a parallel micromanipulator with better performance is obtained.