Abstract
Considering that the Jacobian matrix maps the velocity of the joint space of the robot to the end velocity of the Cartesian space, a novel topology optimization approach is proposed in this article...
Highlights
In the past two decades, compliant mechanisms are widely used in precision engineering as they do not show problems such as clearance, friction, and wear.[1]
To improve the overall stiffness of the compliant mechanism, the topology optimization approach has been used in its design
Compared with multi-input and multi-output (MIMO) of parallel prototype manipulator, the singularity of driver configuration should be considered at the beginning of topology optimization process of spatial compliant mechanism
Summary
In the past two decades, compliant mechanisms are widely used in precision engineering as they do not show problems such as clearance, friction, and wear.[1]. Keywords Compliant mechanisms, topology optimization, Jacobian mapping matrix, UPU-type parallel prototype manipulator, equivalent infinitesimal method, solid isotropic material with penalization G Wang et al.[6] proposed a multiobjective topology optimization method of combined load cases and constraints for a compliant parallel planar mechanism.
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