回転関節を有する多節リンク機構のトポロジー最適化

抄録

This study addresses the topology optimization of multi-link mechanisms with rotational joints to achieve improved overall mechanical performance. Unlike conventional methods that focus on individual parts, this research simultaneously optimizes the structural shape of all components in the link mechanism, incorporating their mutual interactions. The proposed approach models rotational joints using linear anisotropic materials to approximate their physical behavior and formulates the optimization problem as a coupled system. Design sensitivity analysis and an optimization algorithm are developed using the adjoint variable method. Numerical examples demonstrate the validity of the method by maximizing system-wide stiffness through the concurrent optimization of all links. Future work will extend this approach to consider varying joint angles to ensure robustness across a wide range of operational conditions.