Design of Grip-and-Move Manipulators Using Symmetric Path Generating Compliant Mechanisms

2008 ◽  
Vol 130 (11) ◽  
Author(s):  
N. F. Wang ◽  
K. Tai
Keyword(s):  
Topology Optimization ◽  
Compliant Mechanisms ◽  
Optimization Procedure ◽  
Problem Formulation ◽  
Optimization Approach ◽  
Structural Topology ◽  
Graph Theoretic ◽  
Mutation Operators ◽  
Future Work ◽  
Crossover And Mutation

This paper presents the problem formulation and design of compliant grip-and-move manipulators. Each manipulator is composed of two identical path generating compliant mechanisms such that it can grip an object and convey it from one point to another. The integration of both gripping and moving behaviors within a simple mechanism is accomplished by the use of compliant mechanisms, which generate paths that are symmetric. The automated synthesis of these symmetric path generating mechanisms is by a structural topology optimization approach. The problem of topology optimization of continuum structures is solved using a multiobjective genetic algorithm coupled with a morphological representation of geometry that efficiently defines the variable structural geometry upon a finite element grid. A graph-theoretic chromosome encoding together with compatible crossover and mutation operators are then applied to form an effective evolutionary optimization procedure. Two designs have been created and are presented in this paper, and some concluding remarks and future work are put forward.

scholarly journals Topology Optimization considering Nonsmooth Structural Boundaries in the Intersection Areas of the Components

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Ruichao Lian ◽  
Shikai Jing ◽  
Zefang Shi ◽  
Zhijun He ◽  
Guohua Song
Keyword(s):  
Topology Optimization ◽  
Geometric Modeling ◽  
Compliant Mechanisms ◽  
Optimization Approach ◽  
Structural Topology ◽  
Topology Description Function ◽  
Structural Responses ◽  
Structure Boundary ◽  
Compliance Problem ◽  
The Impact

In the structural topology optimization approaches, the Moving Morphable Component (MMC) is a new method to obtain the optimized structural topologies by optimizing shapes, sizes, and locations of components. However, the optimized structure boundary usually generates local nonsmooth areas due to incomplete connection between components. In the present paper, a topology optimization approach considering nonsmooth structural boundaries in the intersection areas of the components based on the MMC is proposed. The variability of components’ shape can be obtained by constructing the topology description function (TDF) with multiple thickness and length variables. The shape of components can be modified according to the structural responses during the optimization process, and the relatively smooth structural boundaries are generated in the intersection areas of the components. To reduce the impact of the initial layout on the rate of convergence, this method is implemented in a hierarchical variable calling strategy. Compared with the original MMC method, the advantage of the proposed approach is that the smoothness of the structural boundaries can be effectively improved and the geometric modeling ability can be enhanced in a concise way. The effectiveness of the proposed method is demonstrated for topology optimization of the minimum compliance problem and compliant mechanisms.

Topology Optimization of Compliant Mechanisms Using Evolutionary Algorithm With Design Geometry Encoded as a Graph

2002 ◽  
Author(s):  
Shamim Akhtar ◽  
Kang Tai ◽  
Jitendra Prasad
Keyword(s):  
Topology Optimization ◽  
Evolutionary Algorithm ◽  
Optimization Problems ◽  
Compliant Mechanism ◽  
Evolutionary Process ◽  
Optimization Procedure ◽  
Structural Topology ◽  
Mutation Operators ◽  
Design Variables ◽  
Straight Line

This paper describes an intuitive way of defining geometry design variables for solving structural topology optimization problems using an evolutionary algorithm (EA). The geometry representation scheme works by defining a skeleton which represents the underlying topology/connectivity of the continuum structure. As the effectiveness of any EA is highly dependent on the chromosome encoding of the design variables, the encoding used here is a graph which reflects this underlying topology so that the genetic crossover and mutation operators of the EA can recombine and preserve any desirable geometric characteristics through succeeding generations of the evolutionary process. The overall optimization procedure is applied to design a straight-line compliant mechanism : a large displacement flexural structure that generates a vertical straight line path at some point when given a horizontal straight line input displacement at another point.

scholarly journals Structural Topology Optimization in Linear and Nonlinear Elasticity Using Genetic Algorithms

1995 ◽  
Author(s):  
Couro Kane ◽  
François Jouve ◽  
Marc Schoenauer
Keyword(s):  
Genetic Algorithms ◽  
Topology Optimization ◽  
Structural Topology Optimization ◽  
Structural Topology ◽  
Optimal Solutions ◽  
Mutation Operators ◽  
Geometrical Effects ◽  
Displacement Constraints ◽  
Crossover And Mutation ◽  
Linear And Nonlinear Elasticity

Abstract In this paper, structural topology optimization is addressed through Genetic Algorithms. A set of designs is evolved following the Darwinian survival-of-fittest principle. The standard crossover and mutation operators are tailored for the needs of 2D topology optimization. The genetic algorithm based on these operators is experimented on plane stress problems of cantilever plates: the goal is to optimize the weight of the structure under displacement constraints. The main advantage of this approach is that it can both find out alternative optimal solutions, as experimentally demonstrated on a problem with multiple solutions, and handle different kinds of mechanical model: some results in elasticity with large displacements are presented. In that case, the nonlinear geometrical effects of the model lead to non viable solutions, unless some constraints are imposed on the stress field.

scholarly journals On understanding of design problem formulation for compliant mechanisms through topology optimization

2013 ◽  
Vol 4 (2) ◽  
pp. 357-369 ◽  
Author(s):  
L. Cao ◽  
A. Dolovich ◽  
W. J. Zhang
Keyword(s):  
Topology Optimization ◽  
Compliant Mechanisms ◽  
Optimization Technique ◽  
Problem Formulation ◽  
Functional Requirements ◽  
Motion Generation ◽  
Design Problems ◽  
Standard Design ◽  
Quantitative Design ◽  
Future Work

Abstract. General problems associated with the design of compliant mechanisms through the topology optimization technique are defined in this paper due to the lack of comprehensive definitions for these problems in the literature. Standard design problems associated with rigid body mechanisms, i.e. function generation, path generation and motion generation, are extended to compliant mechanisms. Functional requirements and the associated 25 formulations in the literature are comprehensively reviewed along with their limitations. Based on whether the output is controlled quantitatively or not, these formulations are categorized into two types: (1) formulations for quantitative design; and (2) formulations for qualitative design. In addition, formulations that aim to solve the point flexure problem are also discussed. Future work is identified based on the discussion of each topic.

Structural Topology Optimization Using Frame Elements Based on the Complementary Strain Energy Concept for Eigen-Frequency Maximization

2005 ◽  
Author(s):  
Akihiro Takezawa ◽  
Shinji Nishiwaki ◽  
Kazuhiro Izui ◽  
Masataka Yoshimura
Keyword(s):  
Topology Optimization ◽  
Cross Sections ◽  
Strain Energy ◽  
Optimization Procedure ◽  
Optimization Method ◽  
Structural Topology ◽  
Energy Concept ◽  
Conceptual Design Phase ◽  
Complementary Strain ◽  
Topology Optimization Method

This paper discuses a new topology optimization method using frame elements for the design of mechanical structures at the conceptual design phase. The optimal configurations are determined by maximizing multiple eigen-frequencies in order to obtain the most stable structures for dynamic problems. The optimization problem is formulated using frame elements having ellipsoidal cross-sections, as the simplest case. Construction of the optimization procedure is based on CONLIN and the complementary strain energy concept. Finally, several examples are presented to confirm that the proposed method is useful for the topology optimization method discussed here.

Topology Optimization of Compliant Mechanisms Using Hybrid Discretization Model

2010 ◽  
Vol 132 (11) ◽  
Author(s):  
Hong Zhou
Keyword(s):  
Topology Optimization ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Optimization Procedure ◽  
Optimization Method ◽  
Diagonal Element ◽  
Initial Guess ◽  
Stress Constraint ◽  
Design Variables ◽  
Hybrid Discretization

The hybrid discretization model for topology optimization of compliant mechanisms is introduced in this paper. The design domain is discretized into quadrilateral design cells. Each design cell is further subdivided into triangular analysis cells. This hybrid discretization model allows any two contiguous design cells to be connected by four triangular analysis cells whether they are in the horizontal, vertical, or diagonal direction. Topological anomalies such as checkerboard patterns, diagonal element chains, and de facto hinges are completely eliminated. In the proposed topology optimization method, design variables are all binary, and every analysis cell is either solid or void to prevent the gray cell problem that is usually caused by intermediate material states. Stress constraint is directly imposed on each analysis cell to make the synthesized compliant mechanism safe. Genetic algorithm is used to search the optimum and to avoid the need to choose the initial guess solution and conduct sensitivity analysis. The obtained topology solutions have no point connection, unsmooth boundary, and zigzag member. No post-processing is needed for topology uncertainty caused by point connection or a gray cell. The introduced hybrid discretization model and the proposed topology optimization procedure are illustrated by two classical synthesis examples of compliant mechanisms.

Design of Compliant Structural Mechanisms Using B-Spline Elements

2011 ◽  
Author(s):  
Ashok V. Kumar ◽  
Anand Parthasarathy
Keyword(s):  
Inverse Problem ◽  
Topology Optimization ◽  
Compliant Mechanisms ◽  
Spline Approximation ◽  
Structural Response ◽  
Field Application ◽  
Optimization Approach ◽  
Objective Functions ◽  
B Spline ◽  
Spline Basis

Structural design is an inverse problem where the geometry that fits a specific design objective is found iteratively through repeated analysis or forward problem solving. In the case of compliant structures, the goal is to design the structure for a particular desired structural response that mimics traditional mechanisms and linkages. It is possible to state the inverse problem in many different ways depending on the choice of objective functions used and the method used to represent the shape. In this paper, some of the objective functions that have been used in the past, for the topology optimization approach to designing compliant mechanisms are compared and discussed. Topology optimization using traditional finite elements often do not yield well-defined smooth boundaries. The computed optimal material distributions have shape irregularities unless special techniques are used to suppress them. In this paper, shape is represented as the contours or level sets of a characteristic function that is defined using B-spline approximation to ensure that the contours, which represent the boundaries, are smooth. The analysis is also performed using B-spline elements which use B-spline basis functions to represent the displacement field. Application of this approach to design a few simple mechanisms is presented.

scholarly journals A local solution approach for level-set based structural topology optimization in isogeometric analysis

2020 ◽  
Vol 7 (4) ◽  
pp. 514-526
Author(s):  
Zijun Wu ◽  
Shuting Wang ◽  
Renbin Xiao ◽  
Lianqing Yu
Keyword(s):  
Topology Optimization ◽  
Level Set ◽  
Isogeometric Analysis ◽  
Iteration Process ◽  
Solid Material ◽  
Optimization Approach ◽  
Structural Topology ◽  
Zero Level ◽  
Solution Approach ◽  
Level Set Function

Abstract This paper develops a new topology optimization approach for minimal compliance problems based on the parameterized level set method in isogeometric analysis. Here, we choose the basis functions as level set functions. The design variables are obtained with Greville abscissae based on the corresponding collocation points. The zero-level set boundaries are derived from the level set function values of the interpolation points in all knot spans. In the optimization iteration process, the whole design domain is discretized into two types of subdomains around the zero-level set boundaries, undesign area with void materials and redesign domain with solid materials. To decrease the size of equations and the computational consumptions, only the solid material area is recalculated and the void material area is discarded according to the high accuracy of isogeometric analysis. Numerical examples demonstrate the validity of the proposed optimization method.

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