A new topology optimization method for planar compliant parallel mechanisms

This paper presents a new method for the optimal synthesis of planar compliant parallel mechanisms (CPMs). The compliant limbs of CPMs are regarded as separate design domains of topology optimization problem. The finite element analysis (FEA) and matrix methods are combined to analyze the CPMs' Jacobian and stiffness matrices, based on which a new formulation is proposed for the topology optimization of multiple degree-of-freedom (DOF) compliant mechanisms. Without beginning with a known rigid-body mechanism, the proposed method finds the optimal topology of CPMs within the given design domains. The ability of the proposed method to find the optimal topology with complex kinematic behavior is demonstrated by several numerical examples and experimental study.