相关论文: Topology Optimization of Leg Structures for Constr…

The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…

Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…

This paper presents an end-to-end framework for robust structure/control optimization of an industrial benchmark. When dealing with space structures, a reduction of the spacecraft mass is paramount to minimize the mission cost and maximize…

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 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.…

Topology optimization methods face serious challenges when applied to structural design with fluid-structure interaction (FSI) loads, specially for high Reynolds fluid flow. This paper devises an explicit boundary method that employs…

At elevated temperature environments, elastic structures experience a change of the stress-free state of the body that can strongly influence the optimal topology of the structure. This work presents level-set based topology optimization of…

The efficient optimization of actuated soft structures, particularly under complex nonlinear forces, remains a critical challenge in advancing robotics. Simulations of nonlinear structures, such as soft-bodied robots modeled using the…

The present paper introduces a hybrid explicit-implicit topology optimization method for shell-infill composite structure design. The proposed approach effectively combines the advantages of the explicit Moving Morphable Component (MMC)…

A new density field representation technique called the Bezier skeleton explicit density (BSED) representation scheme for topology optimization of stretchable metamaterials under finite deformation is proposed for the first time. The…

An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as…

Density-based topology optimization methods such as SIMP enable efficient topological exploration but produce diffuse material boundaries that require interpretation before manufacturing. Level-set methods maintain sharp interfaces but are…

This work introduces an Adaptive Mesh Refinement (AMR) strategy for the topology optimization of structures made of discrete geometric components using the geometry projection method. Practical structures made of geometric shapes such as…

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…

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…

A surrogate-based topology optimisation algorithm for linear elastic structures under parametric loads and boundary conditions is proposed. Instead of learning the parametric solution of the state (and adjoint) problems or the optimisation…

In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…

To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their limbs, and also mitigating impacts that may occur during the…

Topology Optimization (TO), which maximizes structural robustness under material weight constraints, is becoming an essential step for the automatic design of mechanical parts. However, existing TO algorithms use the Finite Element Analysis…

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…