Structural Optimization of a Cable-Driven Mechanism undergoing Variable Topology
Zhengzheng Cai, Yicheng Wang, Dongping Jin, Jialiang Sun
Abstract：This paper proposes a comprehensive optimization method for a cable-driven mechanism undergoing variable topology. Firstly, a dynamic model for the flexible multibody system (FMBS) is established via the Absolute Nodal Coordinate Formulation (ANCF) within an Arbitrary Lagrange-Euler (ALE) framework, which accurately describes the system dynamics with variable-length components and variable topology. While the optimization formulation based on this model provides high-fidelity dynamic response and sensitivity information, it requires solving differential-algebraic equations at each optimization iteration, making the computational demands prohibitive for large-scale FMBS. To address this limitation, a comprehensive optimization method is proposed in this work, which transforms the dynamic problem into a series of static subproblems. Within this framework, the static model maintains a unified formulation by updating its structural parameters according to variable topology. This method avoids the repeated solutions of dynamic equations and sensitivity analysis, while maintaining solution accuracy through iterative validation between multibody dynamic simulation and static response optimization. The optimization method is applied to the structural design of a cable-driven lifting mechanism on moon, where multi-objective optimization significantly reduces internal forces and enhances stability.
文章链接：https://www.sciencedirect.com/science/article/pii/S0307904X26002155
