相关论文: Topology Optimization of Leg Structures for Constr…
In the present paper, an integrated paradigm for topology optimization on complex surfaces with arbitrary genus is proposed. The approach is constructed based on the two-dimensional (2D) Moving Morphable Component (MMC) framework, where a…
This paper presents a synthesis approach in a density-based topology optimization setting to design large deformation compliant mechanisms for inducing desired strains in biological tissues. The modelling is based on geometrical…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
This work presents a computational method for the design of architected truss lattice materials where each strut can be made of one of a set of available materials. We design the lattices to extremize effective properties. As customary in…
Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…
Porous structures such as trabecular bone are widely seen in nature. These structures exhibit superior mechanical properties whilst being lightweight. In this paper, we present a method to generate bone-like porous structures as lightweight…
This paper presents a multicomponent topology optimization method for designing structures assembled from additively-manufactured components, considering anisotropic material behavior for each component due to its build orientation,…
Mitigating low-frequency noise is particularly challenging due to its limited natural attenuation. This study aims to design viscoelastic composite microstructures that achieve both low acoustic reflection and high internal damping by…
We present a methodical procedure for topology optimization under uncertainty with multi-resolution finite element models. We use our framework in a bi-fidelity setting where a coarse and a fine mesh corresponding to low- and…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists:…
The optimization of porous infill structures via local volume constraints has become a popular approach in topology optimization. In some design settings, however, the iterative optimization process converges only slowly, or not at all even…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
We introduce a novel method for solving density-based topology optimization problems: Sigmoidal Mirror descent with a Projected Latent variable (SiMPL). The SiMPL method (pronounced as ``the simple method'') optimizes a design using only…
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…
A robot's ability to complete a task is heavily dependent on its physical design. However, identifying an optimal physical design and its corresponding control policy is inherently challenging. The freedom to choose the number of links,…
A level set topology optimization approach that uses an auxiliary density field to nucleate holes during the optimization process and achieves minimum feature size control in optimized designs is explored. The level set field determines the…
Efficient optimization of topology and raster angle has shown unprecedented enhancements in the mechanical properties of 3D printed materials. Topology optimization helps reduce the waste of raw material in the fabrication of 3D printed…
This paper presents a density-based topology optimization approach considering additive manufacturing limitations. The presented method considers the minimum size of parts, the minimum size of cavities, the inability of printing overhanging…
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…