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

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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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.

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Acknowledgment

This work was supported by the National Natural Science Foundation of China under Grant 51425501 and by Beijing Municipal Science & Technology Commission under Grant Z171100000817007.

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Authors and Affiliations

  1. Department of Mechanical Engineering, The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Tsinghua University, Beijing, 100084, China

    Qizhi Meng, Fugui Xie & Xin-Jun Liu

  2. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, China

    Fugui Xie & Xin-Jun Liu

Authors
  1. Qizhi Meng
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  2. Fugui Xie
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  3. Xin-Jun Liu
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Corresponding author

Correspondence to Xin-Jun Liu .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Meng, Q., Xie, F., Liu, XJ. (2017). Topology Optimization of the Active Arms for a High-Speed Parallel Robot Based on Variable Height Method. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_19

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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