Topology Optimization of the Active Arms for a High-Speed Parallel Robot Based on Variable Height Method

Abstract

This paper presents a solution for the topology optimization of the active arms for high-speed parallel robots. The guide-weight method is introduced into the topology optimization of continuum structures as a numerically iterative criterion. A new hypothetical material interpolation scheme is established as the theoretical foundation of the proposed variable height method. Based on the guide-weight and variable height methods, an efficient and intuitive topology optimization algorithm for flexible manufacturing which includes subtractive and additive manufacturing is put forward. The procedure of topology optimization algorithm for flexible manufacturing is described in detail. Two typical numerical examples of minimum compliance under the weight constraint are tested. In order to improve the static stiffness and dynamic response performance of the high-speed parallel robots, the presented approach is finally applied to optimize the topology of a parallel robot’s active arms.