Related papers: Towards topology optimization of pressure-driven s…
Compliant mechanisms actuated by pneumatic loads are receiving increasing attention due to their direct applicability as soft robots that perform tasks using their flexible bodies. Using multiple materials to build them can further improve…
In various applications, design problems involving structures and compliant mechanisms experience fluidic pressure loads. During topology optimization of such design problems, these loads adapt their direction and location with the…
This paper presents a density-based topology optimization method for designing three-dimensional (3D) compliant mechanisms and loadbearing structures with design-dependent pressure loading. Instead of interface-tracking techniques, the…
Demands for pneumatic-driven soft robots are constantly rising for various applications. However, they are often designed manually due to the lack of systematic methods. Moreover, design-dependent characteristics of pneumatic actuation pose…
This paper presents a robust density-based topology optimization approach for synthesizing pressure-actuated compliant mechanisms. To ensure functionality under manufacturing inaccuracies, the robust or three-field formulation is employed,…
This paper introduces a new nonlinear topology optimization framework which employs porohyperelasticity for providing computational design of pneumatic soft actuators. Density-based topology optimization is used with the objective of…
Permitting multiple materials within a topology optimization setting increases the search space of the technique, which facilitates obtaining high-performing and efficient optimized designs. Structures with multiple materials involving…
Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…
This paper presents a systematic topology optimization framework for designing a soft pneumatic gripper (SPG), explicitly considering the design-dependent nature of the actuating load. The load is modeled using Darcy's law with an added…
Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…
Topology optimization (TopOpt) is a mathematical-driven design procedure to realize optimal material architectures. This procedure is often used to automate the design of devices involving flow through porous media, such as micro-fluidic…
This paper introduces "\texttt{TOPress3D}," a 3D topology optimization MATLAB code for structures subjected to design-dependent pressure loads. With a primary focus on pedagogical objectives, the code provides an easy learning experience,…
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…
In a topology optimization setting, design-dependent fluidic pressure loads pose several challenges as their direction, magnitude, and location alter with topology evolution. This paper offers a compact 100-line MATLAB code, TOPress, for…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Topology optimization is an important basis for the design of components. Here, the optimal structure is found within a design space subject to boundary conditions. Thereby, the specific material law has a strong impact on the final design.…
Functionally Graded Materials (FGMs) made of soft constituents have emerged as promising material-structure systems in potential applications across many engineering disciplines, such as soft robots, actuators, energy harvesting, and tissue…