Topological synthesis of fluidic pressure-actuated robust compliant mechanisms

Kumar, Prabhat; Langelaar, Matthijs

doi:10.1016/j.mechmachtheory.2022.104871

Cited by 6 publications

(8 citation statements)

References 44 publications

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“…Numerous methods have been proposed to circumvent the introduction of point connections in the optimized CMs (Yin and Ananthasuresh, 2003;Poulsen, 2003;Saxena and Saxena, 2007;Wang et al, 2011;Singh et al, 2020). Herein, we use the robust formulation (Wang et al, 2011) with respect to the blueprint and eroded designs (Kumar and Langelaar, 2022). We replace η by 0.5 + ∆η and 0.5 in Eq.…”

Section: Optimization Problem Formulationmentioning

confidence: 99%

“…These robots can be classified based on the ways they require actuation. For example, fluidic pressure-driven actuation (Kumar et al, 2020;Kumar, 2022;Gorissen et al, 2017;Kumar and Langelaar, 2022;de Souza and Silva, 2020;Lu and Tong, 2021;Vasista and Tong, 2012), cable-driven actuation (Chen et al, 2018), electroactive polymer-based actuation (Pourazadi et al, 2019) and shape-memory material-based actuation (Jin et al, 2016), etc. Among these, fluidic pressure (pneumatic)-driven robots are more sought after because of their lightweight, quick response, and lowcost components (Kumar, 2022;Xavier et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

“…Characteristic features of soft robots resemble those of compliant mechanisms that perform their tasks utilizing the motion obtained from their flexible members (Kumar, 2022). Thus, topology optimization methods for designing pneumatically actuated compliant mechanisms (CMs) can be one of the promising ways to design soft robots (Kumar and Langelaar, 2022;Kumar, 2022). Topology optimization (TO), a computational technique, determines where to place material and where to make holes (void) within a given design domain to achieve optimum performance.…”

Section: Introductionmentioning

confidence: 99%

“…Elements/regions with low stiffness deform significantly; thus, they pose an additional set of challenges (Wang et al, 2014;. In addition, for capturing the design-dependent nature of the pneumatic loads with large deformation, one needs to include the follower force concepts within the formulation (Kumar and Langelaar, 2022). Moreover, when designing mechanisms, there may be instances where members come into contact with each other, further complicating the formulation (Kumar et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

“…Recently, Pinskier et al (2023) presented TO methods for 3D multi-material soft grippers building upon the first introduced in (Kumar et al, 2020;Kumar and Langelaar, 2021). In addition, to date, only a limited number of TO methods exist to design fluidic pressure-actuated compliant mechanisms considering the design-dependent nature of the loads in 2D (Kumar et al, 2020;Kumar and Langelaar, 2022;Panganiban et al, 2010;Vasista and Tong, 2012;de Souza and Silva, 2020;Lu and Tong, 2021) and 3D (Panganiban et al, 2010;Kumar and Langelaar, 2021) settings. Given the various challenges and complexities involved in these approaches, newcomers, students and even experienced researchers in this field may face difficulties in developing new approaches or using existing ones.…”

Section: Introductionmentioning

confidence: 99%

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SoRoTop: a hitchhiker’s guide to topology optimization MATLAB code for design-dependent pneumatic-driven soft robots

Kumar

2023

Optim Eng

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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, designdependent characteristics of pneumatic actuation pose distinctive challenges. This paper provides a compact MATLAB code, named SoRoTop, and its various extensions for designing pneumatic-driven soft robots using topology optimization. The code uses the method of moving asymptotes as the optimizer and builds upon the approach initially presented in Kumar et al.(Struct Multidiscip Optim 61 (4): 1637-1655. The pneumatic load is modeled using Darcy's law with a conceptualized drainage term. Consistent nodal loads are determined from the resultant pressure field using the conventional finite element approach. The robust formulation is employed, i.e., the eroded and blueprint design descriptions are used. A min-max optimization problem is formulated using the output displacements of the eroded and blueprint designs. A volume constraint is imposed on the blueprint design, while the eroded design is used to apply a conceptualized strain energy constraint. The latter constraint aids in attaining optimized designs that can endure the applied load without compromising their performance. Sensitivities required for optimization are computed using the adjoint-variable method. The code is explained in detail, and various extensions are also presented. It is structured into pre-optimization, MMA optimization, and post-optimization operations, each of which is comprehensively detailed. The paper also illustrates the impact of load sensitivities on the optimized designs. SoRoTop is provided in Appendix A and is available with extensions in the supplementary material and publicly at https://github.com/PrabhatIn/SoRoTop.

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Section: Optimization Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

SoRoTop: a hitchhiker’s guide to topology optimization MATLAB code for design-dependent pneumatic-driven soft robots

Kumar

2023

Optim Eng

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Towards Topology Optimization of Pressure-Driven Soft Robots

Kumar

2022

Microactuators, Microsensors and Micromechanisms

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Topology and orientation optimization of multi-material hinge-free composite compliant mechanisms under multiple design-dependent loadings

Lu,

Tong

2024

Struct Multidisc Optim

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Compliant mechanisms with multiple input loads and output ports are commonly applied in micro-electromechanical systems (MEMS), while compliant mechanisms under design-dependent pressure loadings (such as pneumatic or hydraulic) can generate smooth and compatible deformations. Combining these two types of problems, we propose the design problem of compliant mechanisms under multiple design-dependent loadings. To potentially improve the structural performances, fiber-reinforced composite materials are introduced, and multi-material topology optimization and material orientation optimization are considered simultaneously, which enables the materials to be anisotropic and heterogeneous. Since compliant mechanisms utilize elastic deformation to transmit input forces or displacements to output forces or displacements, anisotropic and heterogeneous material can increase the freedoms in displacement and force transmissions compared to conventional homogeneous isotropic material. The topology optimization is implemented via an extended moving iso-surface threshold (MIST) method for multi-material, in which a novel element-based searching scheme is employed for tracking multiple fluid–structure interfaces. The orientation optimization is achieved via an analytical solution derived for fully anisotropic materials and multi-input-multi-output compliant mechanisms. Numerical examples are presented to show the validity of the present MIST method to design multi-material hinge-free compliant mechanisms under multiple design-dependent loadings.

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Topological synthesis of fluidic pressure-actuated robust compliant mechanisms

Cited by 6 publications

References 44 publications

SoRoTop: a hitchhiker’s guide to topology optimization MATLAB code for design-dependent pneumatic-driven soft robots

SoRoTop: a hitchhiker’s guide to topology optimization MATLAB code for design-dependent pneumatic-driven soft robots

Towards Topology Optimization of Pressure-Driven Soft Robots

Topology and orientation optimization of multi-material hinge-free composite compliant mechanisms under multiple design-dependent loadings

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