In order to implement the generated

为了实现生成的拓扑，性能也必须事先进行分析。与<br>常规几何形状的常规组件不同，拓扑优化的组件无法<br>实现性能，因为针对不同边界条件的最优拓扑完全不同。这<br>为设计人员在实际应用之前在理论上或实验上预测性能提供了条件。为了解决这个<br>问题，提出了一种通用的实验装置，该装置在工业市场上尚不可用，可以帮助<br>分析优化链路的实验性能。建立了一个实验设置来捕获<br>电流，扭矩和Von-Mises应力值。建立了基于EtherCAT和PLC的自动化系统<br>，以精确的速度和位置来驱动机械手链接[11]。HMI用于从<br>用户端轻松操作机器人控制，该操作已标记到PLC功能块[12]。DAQ系统已整合到实验装置中，以<br>通过LABVIEW软件捕获应变数据。对于实验，<br>考虑到动态负载，使用SIMP方法对单个DOF机械手链接进行了优化。开发了一种MATLAB算法来计算<br>性能幅度，例如最大挠度和Von-Mises应力。这项工作侧重于静态<br>考虑最坏的负载情况，对机械手连杆进行分析。该方法可以扩展到<br>诸如刚性机械构件的任何机构。工业机械手连杆，四连杆机构和曲柄滑块机构等[13]。操纵连杆的拓扑优化的细节在接下来的详细说明<br>部分

为了实现生成的拓扑，性能也必须事先分析。不像<br>常规几何的传统组件，拓扑优化组件的性能不<br>可能的，因为对不同边界条件的最佳道歉是完全不同的。它强加了一个条件<br>设计者在实际应用前进行理论或实验性能预测。专注于此<br>问题，一个普遍的实验设置建议，这是没有准备好在工业市场，可以帮助<br>分析优化链接的实验性能。建立了一个实验设置，以捕获<br>电流、扭矩和冯-米斯压力值。建立以太卡特和PLC为基础的自动化系统，以执行<br>操纵器链接在精确的速度和位置 [11] 。HMI 用于机器人控制的简单操作<br>用户端，标记为PLC功能块[12]。DAQ 系统已纳入实验设置，以<br>通过 LABVIEW 软件捕获应变数据。对于实验，优化了单个 DOF 操纵器链接<br>在考虑动态加载时使用 SIMP 方法。开发 MATLAB 算法来计算<br>性能量级，如最大偏转和冯-米斯应力。这项工作的重点是静态的<br>分析操纵者链接，考虑最坏的加载情况。此方法可以扩展到任何<br>刚性机械成员的机制，如：工业操纵者链接、四栏机制、滑梯机制等[13]。操作器链接的拓扑优化细节详见下一页<br>部分

In order to implement the generated topology, the performance is also imperative to analyse beforehand. Unlike theconventional components of regular geometry, the performance for a topologically optimized component is notpossible, as the optimal topologies for different boundary conditions are entirely different. It imposes a condition onthe designer to predict the performance theoretically or experimentally before practical application. To focus on thisissue, a universal experimental setup is proposed which is not available ready in industrial market that can help inanalysing the experimental performance of an optimized link. An experimental setup is established to capture thecurrent, torque, and Von-Mises stress values. EtherCAT and PLC-based automation systems are established to actuatethe manipulator-link at a precise speed and position [11]. HMI is used for easy operation of the robot control fromthe user end, which is tagged to PLC function blocks [12]. DAQ system is incorporated into the experimental setup tocapture the strain data through LABVIEW software. For the experiment, a single DOF manipulator link is optimizedusing the SIMP approach with the consideration of dynamic loading. A MATLAB algorithm is developed to calculatethe performance magnitudes, such as maximum deflection and Von-Mises stress. This work is focused on the staticanalysis of the manipulator-link, considering the worst loading situation. This method can be extended to anymechanism of the rigid mechanical member such as; industrial manipulator links, four-bar mechanism, and slidercrank mechanism, etc. [13]. The details of the topology optimization of the manipulator-link are detailed in the nextsection<br>