Related papers: Soft Pneumatic Grippers: Topology optimization, 3D…
The increasing availability of full-field displacement data from imaging techniques in experimental mechanics is determining a gradual shift in the paradigm of material model calibration and discovery, from using several simple-geometry…
This paper presents an analytical framework to study the geometry arising when a soft continuum arm grasps a planar object. Both the arm centerline and the object boundary are modeled as smooth curves. The grasping problem is formulated as…
Topology optimization (TO) in two dimensions often presents a trade-off between structural performance and manufacturability, with unpenalized (variable-thickness) methods yielding superior but complex designs, and penalized (SIMP) methods…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
This paper introduces a heuristic topology optimization framework for thin-walled, 2D extruded lattice structures subject to complex high-speed loading. The proposed framework optimizes the wall thickness distribution in the lattice cross…
In this paper, we present a 2D numerical model developed to simulate the dynamics of soft, deformable particles. To accommodate significant particle deformations, the particle surface is represented as a narrow shell composed of mass points…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…
Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach for modeling soft pneumatic actuators, employing a nonlinear…
Recent advances in Gaussian Splatting have enabled fast, high-fidelity 3D scene generation, yet these methods remain purely visual and lack an understanding of how shapes behave in the physical world. We introduce Physics-Guided 3D Gaussian…
With recent advances in both responsive materials and fabrication techniques it is now possible to construct integrated functional structures, composed of both structural and active materials. We investigate the robust design of such…
In the industrial practice, additive manufacturing processes are often followed by post-processing operations such as subtractive machining, milling, etc. to achieve the desired surface quality and dimensional accuracy. Hence, a given part…
Thin-walled structures clamped by friction joints, such as aircraft skin panels are exposed to bending-stretching coupling and frictional contact. We propose an original sub-structuring approach, where the system is divided into thin-walled…
The need for optimized structures with good mechanical performance for the minimum weight is common in industry. Solid Isotropic Material with Penalization (SIMP) is a Topology Optimization (TO) method offering a trade-off between minimum…
Pin fins are imperative in the cooling of turbine blades. The designs of pin fins, therefore, have seen significant research in the past. With the developments in metal additive manufacturing, novel design approaches toward complex…
Although stress-constrained topology optimization has been extensively studied in structural design, the development of optimization frameworks to enable the creation of metamaterials with optimal mechanical performance is still an open…
A new approach for generating stress-constrained topological designs in continua is presented. The main novelty is in the use of elasto-plastic modeling and in optimizing the design such that it will exhibit a linear-elastic response. This…
Fixed degree-of-freedom (DoF) loading mechanisms often suffer from excessive actuators, complex control, and limited adaptability to dynamic tasks. This study proposes an innovative mechanism of underactuated metamorphic loading…
In the current industry, the development of optimized mechanical components able to satisfy the customer requirements evolves quickly. Therefore, companies are asked for efficient solutions to improve their products in terms of stiffness…
Topology Optimization seeks to find the best design that satisfies a set of constraints while maximizing system performance. Traditional iterative optimization methods like SIMP can be computationally expensive and get stuck in local…
We present a sampling-based approach to reasoning about the caging-based manipulation of rigid and a simplified class of deformable 3D objects subject to energy constraints. Towards this end, we propose the notion of soft fixtures extending…