Structural optimization of typical rigid links in a parallel kinematic machine

doi:10.1007/s11465-011-0227-x

Front Mech Eng

2011, Vol. 6

Issue (3) : 344-353 https://doi.org/10.1007/s11465-011-0227-x

RESEARCH ARTICLE

Structural optimization of typical rigid links in a parallel kinematic machine

Xinjun LIU(

), Zhidong LI, Xiang CHEN

State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China

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Abstract

The motion dynamics and accuracy of parallel kinematic machines largely depend on the weights and rigidity of typical rigid links. Therefore, these parts should be designed in such a way that they are light but rigid. This work employs the techniques of topology and size optimization to design two typical rigid links of a parallel kinematic machine (PKM) and subsequently obtains applicable structures for them. The calculation models are established, and a new algorithm called the Guide-Weight method is introduced to solve topology optimization problems. The commercial software Ansys is used to perform size optimization.

Keywords topology optimization size optimization parallel kinematic machine (PKM)

Corresponding Author(s): LIU Xinjun,Email:xinjunliu@mail.tsinghua.edu.cn

Issue Date: 05 September 2011

Cite this article:

Zhidong LI,Xiang CHEN,Xinjun LIU. Structural optimization of typical rigid links in a parallel kinematic machine[J]. Front Mech Eng, 2011, 6(3): 344-353.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-011-0227-x
https://academic.hep.com.cn/fme/EN/Y2011/V6/I3/344

Fig.1 PKM and load cases of the rigid links

Fig.2 Calculation model for the rigid links of limbs 1 and 2

Fig.3 Calculation model for the rigid link of limb 3 ( is the angle between the torque and the force direction)

Fig.4 Solution procedure of topology optimization

Tab.1 Table 1 Parameters for topology optimization for problem in Fig. 2

Tab.2 Parameters for topology optimization for problem in Fig. 3

Fig.5 Iteration process for the problem in Fig. 2

Fig.6 Result of topology optimization for the problem in Fig. 2

Fig.7 Iteration process for the problem in Fig. 3 where

Fig.8 Result of topology optimization for the problem in Fig. 3 where

Fig.9 Iteration process for the problem in Fig. 3 where

Fig.10 Result of topology optimization for the problem in Fig. 3 where

Fig.11 Designed structure for the problem in Fig. 2

Fig.12 Designed structure for the problem in Fig. 3

Fig.13 Parameters of the designed structure in Fig. 11

Tab.3 Values of the parameters for structure in Fig. 11

Fig.14 Iteration process of the size optimization for the structure in Fig. 11. (a) Volume variation; (b) maximum stress intensity variation; (c) maximum displacement variation

Fig.15 Parameters of the designed structure in Fig. 12

Tab.4 Values of the parameters for structure in Fig. 12

Fig.16 Iteration process of the size optimization for the structure in Fig. 12. (a) Volume variation; (b) maximum stress intensity variation; (c) maximum displacement variation

Fig.17 Optimal structure of the rigid links for limbs 1 and 2

Fig.18 Optimal structure of the rigid link for limb 3

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