直列状の周期構造によるトポロジー最適化を用いたマニピュレータの設計

抄録

Topology optimization is a technique that has attracted considerable attention in recent years as a method for mathematically calculating optimal structures that would not be conceivable by humans. On the other hand, topology optimization requires iterative calculations for optimization, which can be computationally demanding depending on the target, and the resulting structures are often complex and difficult to process. In particular, when optimizing a structure such as a manipulator that is long in one direction, the computational load increases and the structure cannot be fabricated in one piece. In this study, we investigate a method for designing a manipulator using the method of topology optimization with periodic structures in series, which is effective for the design of structures that are long in one direction, as proposed in our previous study.