Topology Optimization of Spatially Compliant Mechanisms with an Isomorphic Matrix of a 3-UPC Type Parallel Prototype Manipulator

Micromachines

Fupei Wu¹  Alessandro Simeone¹  Wanghu Zhan²  Dachang Zhu² 

[1] Department of Mechatronic Engineering, Shantou University, Shantou 515063, China;School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China;

关键词: compliant mechanisms;    topology optimization;    isomorphic mapping matrix;    3-UPC type parallel prototype manipulator;    solid isotropic material with penalization (SIMP);   

DOI  :  10.3390/mi9040184

来源: DOAJ

【 摘 要 】

A novel topology optimization approach is proposed in this paper for the design of three rotational degree-of-freedom (DOF) spatially compliant mechanisms, combining the Jacobian isomorphic mapping matrix with the solid isotropic material with penalization (SIMP) topological method. In this approach, the isomorphic Jacobian matrix of a 3-UPC (U: universal joint, P: prismatic joint, C: cylindrical joint) type parallel prototype manipulator is formulated. Subsequently, the orthogonal triangular decomposition and differential kinematic method is applied to uncouple the Jacobian matrix to construct a constraint for topology optimization. Firstly, with respect to the 3-UPC type parallel prototype manipulator, the Jacobian matrix is derived to map the inputs and outputs to be used for initializing the topology optimization process. Secondly, the orthogonal triangular decomposition with the differential kinematic method is used to reconstruct the uncoupled mapping matrix to derive the 3-UPC type parallel prototype manipulator. Finally, a combination of the solid isotropic material with penalization (SIMP) method and the isomorphic mapping matrix is applied to construct the topological model. A typical three rotational DOF spatially compliant mechanism is reported as a numerical example to demonstrate the effectiveness of the proposed method.

【 授权许可】

Unknown