Topology optimization of link mechanisms for comprehensive synthesis of component arrangement and structure using micropolar elasticity model

Abstract This paper proposes a method for topology optimization of link mechanisms with multiple outputs, using a multi-material micropolar elasticity model. This approach allows for comprehensive optimization of both the arrangement and structure of the link mechanism components. By utilizing a continuum model that incorporates micropolar elasticity, we can specify bending stiffness independently from tensile stiffness, resulting in deformation characteristics that approximate a link mechanism. The optimization problem of designing link mechanisms for multiple outputs is reformulated as a boundary value problem within this model framework. The design goal is to synthesize a link mechanism that not only follows a desired path but also possesses the required degrees of freedom. To achieve this, the objective function is defined by the displacement error under external force and the strain energy in the links. The multi-material micropolar elasticity model is then optimized through a gradient-based optimization method, focusing on this objective function. The effectiveness and applicability of our methodology are demonstrated through several numerical case studies.