Topology optimization for link mechanism synthesis based on multi-layered generalized continuum model

This study presents a topology optimization framework for synthesizing planar link mechanisms involving overlapping links. Although topology optimization has been widely applied to compliant mechanisms, its application to link mechanisms remains limited. To address this gap, we introduce a multilayer elasticity model in which two layers are connected by springs, enabling the simultaneous optimization of link and joint placements and link structures. The optimization problem is formulated to generate the target path on the end effector, while accounting for the degrees of freedom required for proper mechanical function. Numerical examples demonstrate that the proposed method successfully generates functional link mechanisms by integrating both layout and structural design. This study contributes to the advancement of topology optimization methods for mechanism design by establishing a framework capable of synthesizing planar link mechanisms with overlapping configurations.