Topology optimization of a spatial compliant parallel mechanism based on constant motion transmission characteristic matrix

This paper presents a new method of constructing spatial fully compliant parallel mechanisms. The constant motion transmission characteristic matrix of a spatial 3-degree-of-freedom (DOF) compliant mechanism is used as the constraint function of topology optimization to control the relationship between input and output. A multiobjective topology optimization formula with determined weighting factors is proposed to solve the common input-output coupling problem. This strategy maps the motion characteristics of the original mechanism to the compliant mechanism rather than considering how to use the flexible hinge to replace the rigid hinge. We choose a 3-CPR parallel mechanism with constant motion transmission characteristics as an example to construct a topology optimized compliant mechanism. A series of simulations and experiments proved that the compliant mechanism has higher motion accuracy and a linear mapping relationship between inputs and outputs, and it is isomorphic with the original 3-CPR parallel mechanism.

Automated summary

This paper presents a new method to construct spatial fully compliant parallel mechanisms by using topology optimization and constant motion transmission characteristic matrix. It solves the common input-output coupling problem and achieves higher motion accuracy and a linear mapping relationship between inputs and outputs.