## 3 Results and Discussion
### Selection of an Optimal Solution for the Generation of Structures
Before GDO, the minimum value of potential energy is 145.77 J, kinetic energy is  
Figure 11: View of the three-dimensional virtual model of links 3 and 4: (**A**) link 3 starting shape and result after Generative Design optimisation; (**B**) link 4 starting shape and result after Generative Design optimisation. Figure 12: View of the three-dimensional virtual model of links 1 and 2: (**A**) link 1 starting link and result after Generative Design; (**B**) link 2 starting link and result after Generative Design optimisation. 1.0507 \(\times\) 10\({}^{-3}\) J, external energy is \(-\)137.48 J, and total energy is 148.58 J. After GDO, the maximum value of potential energy is 282.57 J, kinetic energy is 0.20565 J, external energy is 2.8016 J, and total energy is 146.63 J. After GDO, the minimum value potential energy is 143.76 J, kinetic energy is 1.0311 \(\times\) 10\({}^{-3}\) J, external energy is \(-\)136.04 J, and total energy is 146.54 J. The results obtained confirm that the structure of the kinematic system is preserved and that the optimised links are structurally identical to the pre-optimisation links. The Rigid Dynamics toolbox ANSYS Workbench was again used to determine the effect of the GDO on the change in a total moment in the drive kinematic pair B' of the positioner. The results of these analyses are shown in Figure 14. To better illustrate the changes, they are juxtaposed for comparison with the moments obtained before optimisation, as discussed earlier and shown in Figure 7.  
The comparison of moment values in the \(B^{\prime}\) kinematic pair of the CPM positioning system is summarised in Table 12. Changing the latter value is the most important thing to consider from the point of view of selecting an actuator system. It is worth noting  
Figure 14: Compare moments in the \(B^{\prime}\) kinematic pair of the positioning system of the CPM device before and after Generative Design optimisation. Figure 13: Compare the potential, kinetic, total, and external energy of the positioning system of the CPM device before and after Generative Design optimisation. that the efforts made to optimise the positioner links of the CPM device have reduced the total moment by a value of 32.013 Nm, resulting in a reduction in the final value of approximately 35.31% of the power requirement, given the same loads on the CPM device. Such a result demonstrates the validity of the methodology used to optimise the CPM device positioner links. This allows us to significantly improve the structural performance of the designed device. It should be emphasised that the lower actuator moment is primarily a reduction in the purchase cost of the device itself, which is integrated with the mechanical gearbox to drive the positioner's motion apparatus. Typically, in order to better match the actuator range to the customer's needs, actuator distributors use the power series of the actuators they sell. Therefore, when purchasing the final solution, the achieved reduction in a maximum actuator moment represents a significant price difference. A motor that is tailor-made for the appliance will certainly translate into efficiency and reduce electricity costs during operation.