Topology and Parameterization based Multi-Objective Optimization of Delta Parallel Robot Arm

Lightweight and high stiffness are the two fundamental but conflicting objectives for the robotic arm design. This paper proposed an integrated structure optimization approach for the multi-objective design. Firstly, general topology optimization is used to determine the initial frame of the structure, from which the multiple design variables are considered. Then the sensitivity analysis and response surface methods (RSM) are adopted to filter the key parameters for the further optimal design. Finally, the effectiveness of this integrated method is illustrated by a Delta robot arm. Compared with the initial model, the deformation, mass, and stress of Delta robot arm of the final optimal design decrease prominently, reaching approximately 3.125%, 22.22%, and 18.08%, respectively.