论文标题
朝向压力驱动软机器人的拓扑优化
Towards topology optimization of pressure-driven soft robots
论文作者
论文摘要
软机器人是由合规材料制成的，这些材料通过从弹性变形中导出运动来执行其任务。它们用于各种应用中，例如，用于处理脆弱的物体，导航敏感/复杂的环境等，通常由气动/液压负载驱动。尽管由于缺乏系统的方法，各种工程领域对软机器人的需求不断增加，但它们主要是手动设计的。本文提出了一种基于系统的密度拓扑优化方法，用于设计软机器人，同时考虑了依赖设计载荷的行为。我们将Darcy定律与概念化的排水项一起使用，以建模施加压力负载的设计依赖性性质。使用标准有限元来评估来自获得的压力场的一致节点载荷。强大的拓扑优化公式用于多标准目标。通过设计气动网络（Pneunets）的成员/软机器人（Pneunets）的成员/软机器人，证明了所提出的方法的成功。优化的成员组合成几个系列以获取不同的气net。它们的CAD模型是生成的，并在商业软件中使用高压负载进行了研究。根据气net中的成员数量，注意到不同的输出运动。
Soft robots are made of compliant materials that perform their tasks by deriving motion from elastic deformations. They are used in various applications, e.g., for handling fragile objects, navigating sensitive/complex environments, etc., and are typically actuated by Pneumatic/hydraulic loads. Though demands for soft robots are continuously increasing in various engineering sectors, due to the lack of systematic approaches, they are primarily designed manually. This paper presents a systematic density-based topology optimization approach to designing soft robots while considering the design-dependent behavior of the actuating loads. We use the Darcy law with the conceptualized drainage term to model the design-dependent nature of the applied pressure loads. The standard finite element is employed to evaluate the consistent nodal loads from the obtained pressure field. The robust topology optimization formulation is used with the multi-criteria objective. The success of the presented approach is demonstrated by designing a member/soft robot of the pneumatic networks (PneuNets). The optimized member is combined in several series to get different PneuNets. Their CAD models are generated, and they are studied with high-pressure loads in a commercial software. Depending upon the number of members in the PneuNets, different output motions are noted.
