论文标题
通过设计依赖于设计的多物质拓扑优化的气动软握手的自动设计
Automated design of pneumatic soft grippers through design-dependent multi-material topology optimization
论文作者
论文摘要
近年来，软机器人抓握已在学术机器人界迅速传播，并推进了工业应用。同时，多材料3D打印已广泛使用，从而实现了包含刚性和弹性部分的设备的整体制造。我们提出了一种新型的设计技术，该技术利用这两种技术，并且可以自动设计定制的软机器人抓地力，以进行水果挑选和类似的应用。我们演示了新型拓扑优化配方，该配方生成多物质软握把，可以解决内部和外部压力边界，并研究生产气密设计的方法。与现有方法相比，它大大扩展了可搜索的设计空间，同时提高了模拟精度。
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic manufacture of devices containing rigid and elastic sections. We propose a novel design technique that leverages both technologies and can automatically design bespoke soft robotic grippers for fruit-picking and similar applications. We demonstrate the novel topology optimisation formulation that generates multi-material soft grippers, can solve internal and external pressure boundaries, and investigate methods to produce air-tight designs. Compared to existing methods, it vastly expands the searchable design space while increasing simulation accuracy.
