Topology Optimization of 3-DOF Peristaltic Structure Robot Based on Vector Continuous Mapping Matrix. (19th October 2016)

• Record Type: Journal Article
• Authors: Wang, Gao; Zhu, Dachang; Liu, Ning
• Other Names: Strano Salvatore Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2016(2016)
• Publication Date: 2016-10-19
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2016/4740586
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : A mechanism for topology optimization of 3-DOF parallel peristaltic structure robot with vector continuous mapping matrix using Solid Isotropic Material with Penalization (SIMP) method is presented in this paper. We focus on how to prevent the differential motion consistency between parallel prototype mechanisms with peristaltic structure. As the conventional parallel robot joints/hinges are no longer needed after topology optimization, therefore, we renamed this kind of 3-DOF robot structures as peristaltic structure. In the proposed method, the vector continuous mapping matrix is built as stress/strain transfer direction conditions for topology optimization of peristaltic structure, and SIMP method is used for multi-inputs and multioutputs decided by parallel prototype mechanisms. Some numerical examples are presented to illustrate the validity of the proposed method.