Topological Structure Synthesis of Three-Rotational-DOF Compliant Mechanisms

Combining the Jacobi matrix derived by differential equivalent method with topological algorithm-SIMP, a novel structure synthesis method is proposed for the topological structure of 3-rotational DOF compliant mechanism. Referenced with the structural configuration of the parallel manipulator, Jacobi matrix is calculated derived for mapping the multi-inputs and multi-outputs of actuators and displacements, and then, it is used for the initial conditions during the optimal process. Combining the Jacobi matrix with SIMP approach, the topological model of spatial 3-rotational DOF compliant mechanism is built and solved. Numerical examples are used to further demonstrate the validity and efficacy of the proposed method.