11/13/2022 0 Comments Compliant mechanisms howell pdf![]() Secondly, the orthogonal triangular decomposition with the differential kinematic method is used to reconstruct the uncoupled mapping matrix to derive the 3-UPC type parallel prototype manipulator. Firstly, with respect to the 3-UPC type parallel prototype manipulator, the Jacobian matrix is derived to map the inputs and outputs to be used for initializing the topology optimization process. Subsequently, the orthogonal triangular decomposition and differential kinematic method is applied to uncouple the Jacobian matrix to construct a constraint for topology optimization. In this approach, the isomorphic Jacobian matrix of a 3-UPC (U: universal joint, P: prismatic joint, C: cylindrical joint) type parallel prototype manipulator is formulated. A novel topology optimization approach is proposed in this paper for the design of three rotational degree-of-freedom (DOF) spatially compliant mechanisms, combining the Jacobian isomorphic mapping matrix with the solid isotropic material with penalization (SIMP) topological method. ![]()
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