中文摘要：

2自由度平面柔顺机构具备工作空间,可以作为微动机器人载体,通过控制两个独立输入实现可控的平面运动轨迹输出。为改善设计方案的可加工性,研究该柔顺机构拓扑图轮廓提取后的形状优化问题。将柔顺机构抽象成杆件和结点形式,基于拓扑学连通性原理,提出机构区域连通性判定条件,构造窗口平移扫描式机构结点搜索算法,获得设计区域内的柔顺机构结点,在此基础上,建立杆件搜索算法,找出各杆件,实现对柔顺机构的轮廓抽象。对轮廓抽象后的柔顺机构进行轮廓重构,将其轮廓表示为简单曲线的拼接,以曲线参数作为优化变量,通过敏度分析提取关键尺寸,以柔顺机构实际输出和期望输出间的误差作为目标函数,建立轮廓曲线尺寸优化模型,得到柔顺机构的最优轮廓,从而在保持柔顺机构输出性能的前提下明显改善设计方案的可加工性。算例验证了所提形状优化方法的有效性。

英文摘要：

A two-degree-of-freedom planar compliant mechanism possesses a workspace that is able to serve as a micromanipulator carrier to generate programmed planar path by controlling two independent inputs. To improve the mannfacturability of the compliant mechanism design, shape optimization is investigated on the basis of extracted profile after topology optimization. The profile is abstracted into lined links and crunodes. Based on the principle of connectivity in topology, a condition is set up for judging the connectivity of link domain, and then a translational scanning algorithm using windows is constructed to search the crunodes of the required compliant mechanism in the design domain. On this basis, a link searching algorithm is built in order to locate the lined links for the abstraction of the contour of the compliant mechanism. The contour is reconstructed for the abstracted compliant mechanism. The contour is represented as linked simple curves whose parameters serve as optimized variables. Among these variables key dimensions are determined on the basis of sensitivity analysis. The error between the real output and the desired output of the compliant mechanism is used as objective function to form the optimization model of the contour dimension and then generate optimum contour of the compliant mechanism. This optimization improves the manufacturability of the designs without lowering the motion performance of the compliant mechanism. Case studies are given to demonstrate the effectiveness of the presented shape optimization method for comoliant mechanism.