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Design optimization of mechanisms is a promising research area as it results in more energy-efficient machines without compromising performance. However, machine builders do not actually use the potential described in the literature as…
This research delves into optimizing mechanism design, with an emphasis on the energy efficiency and the expansive design possibilities of reciprocating mechanisms. It investigates how to efficiently integrate Computer-Aided Design (CAD)…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
Multicopters are becoming increasingly important in both civil and military fields. Currently, most multicopter propulsion systems are designed by experience and trial-and-error experiments, which are costly and ineffective. This paper…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
Although various structural optimization techniques have a sound mathematical basis, the practical constructability of optimal designs poses a great challenge in the manufacturing stage. Currently, there is only a limited number of unified…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
This paper demonstrates the computational design of soft elastomeric pneumatic actuators using nonlinear topology optimization. An existing density- and porohyperelasticity-based topology optimization framework was extended from 2D to 3D…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
The ability to accurately produce geometries with specified properties is perhaps the most important characteristic of a manufacturing process. 3D printing is marked by exceptional design freedom and complexity but is also prone to…
The design of soft robots is still commonly driven by manual trial-and-error approaches, requiring the manufacturing of multiple physical prototypes, which in the end, is time-consuming and requires significant expertise. To reduce the…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…
Design optimisation potentially leads to lightweight aircraft structures with lower environmental impact. Due to the high number of design variables and constraints, these problems are ordinarily solved using gradient-based optimisation…
Aerodynamic shape optimization has established itself as a valuable tool in the engineering design process to achieve highly efficient results. A central aspect for such approaches is the mapping from the design parameters which encode the…
This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
Current research suggests the use of a liner quadratic performance index for optimal control of regulators in various applications. Some examples include correcting the trajectory of rocket and air vehicles, vibration suppression of…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…