Gaussian Layer Connectivity Parameterization: A New Approach to Topology Optimization of Multi-Body Mechanisms

Topology optimization is extended to the design of multi-body mechanisms. A Gaussian function is used to parameterize the location of inter-body connections, thereby enabling the optimization of both mass distribution and inter-body connectivity simultaneously. The potential for large rigid-body rotation necessitates the use of a geometrically nonlinear finite element analysis to properly model mechanism response. The unknown displacement field is calculated with a Newton–Raphson iterative scheme. An adjoint analysis is performed to efficiently compute the design sensitivities used in the gradient-based optimization procedure. The proposed technique is demonstrated on the design of multi-body grippers and force/displacement inverters.