Topology optimization for additive manufacturing using a component of a humanoid robot

Junk, Stefan; Klerch, Benjamin; Nasdala, Lutz; Hochberg, Ulrich

doi:10.1016/j.procir.2018.03.270

Cited by 29 publications

(15 citation statements)

References 5 publications

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“…Thereby, light-weight design is especially relevant for robotic components close to the payload as their motion results in comparatively large inertial loads which in turn reduce the robot's performance and safety. Hence, considering AM technologies for the development of robot components makes sense in many ways [13]. Moreover, users of optimization approaches based on a given material layout, such as shape optimization (SO) and sizing optimization [14], can as well benefit from the absence of conventional manufacturing constraints as a result of the layer-wise material deposition inherent to many AM technologies.…”

Section: Astesj Issn: 2415-6698mentioning

confidence: 99%

Design of an Additively Manufacturable Multi-Material Light-Weight Gripper with integrated Bellows Actuators

Dämmer¹,

Gablenz²,

Hildebrandt³

et al. 2019

Adv. sci. technol. eng. syst. j.

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Combining state-of-the-art additive manufacturing technologies with structural optimization has the potential to produce geometrically complex multi-material components with integrated functionalities and desired structural behavior. In this article, the simulation-driven design process of a multi-material lightweight gripper with an integrated pneumatic bellows actuator is described. The design of the bellows structure is based on a previously published contribution to the RoboSoft2018 conference in Livorno, Italy. The conference paper contains the shape optimization and experimental investigations of the structural and fatigue behavior of linear type multi-material PolyJet bellows actuators. In this extended version, the main findings of the conference paper are translated into the design of a rotary type bellows actuator that is finally integrated into a multi-material lightweight gripper. In order to define the layout of the gripper's support structure, a density-based topology optimization is performed and the application on a PolyJet printed lightweight robot is demonstrated. The presented design approach and results are useful for researchers and engineers involved in the development of multimaterial additive manufacturing, simulation-driven design and functionally integrated structures for pneumatic robotic systems.

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Section: Astesj Issn: 2415-6698mentioning

confidence: 99%

Design of an Additively Manufacturable Multi-Material Light-Weight Gripper with integrated Bellows Actuators

Dämmer¹,

Gablenz²,

Hildebrandt³

et al. 2019

Adv. sci. technol. eng. syst. j.

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show abstract

“…Additive manufacturing serves as an extremely innovative manufacturing tool to enable the design and production of turbine engine components via topology optimization. As an example, a designer could create the best configuration of a lightweight static and rotating components via lattice structures [164][165][166]. As such, TO is a complex and powerful design approach to optimize the best material distribution for a given mechanical design.…”

Section: Topologymentioning

confidence: 99%

Challenges in Qualifying Additive Manufacturing for Turbine Components: A Review

Srinivasan

2021

Trans Indian Inst Met

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Gas turbine engine advancements have been enabled by innovation in materials and manufacturing technologies. The evolution of additive manufacturing (AM) has changed the face of direct digital technologies for the rapid production of models, prototypes, and functional parts including repair and maintenance for turbine engines. Metal 3D printing is poised to be an enabler for the next industrial revolution in enabling advancements in turbine engine performance. While there has been tremendous efforts on research and development in utilizing this versatile technology, the number of qualified metallic parts that are running in the engine has not been commensurate with the applied research and development efforts and the benefits that the AM technology offers. This review addresses some of the key technical issues that are currently limiting the prolific usage of AM as a successful vehicle for accelerated progress in gas turbine engines.

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“…Industrial serial robots of 6 DOF were optimized by multi-objective topology method for reduction of weight 7.1%, the applied load was analyzed dynamically, and this study was carried out by considering worst-cases of applied force [33,34]. 5 DOF industrial robots were topologically optimized by SIMP approach considering static loading conditions for mass reduction of 44.4% [35][36][37][38][39]. Integrated optimal design approaches were used for 6 DOF serial industrial robots by use of part-level topology optimization and system level optimization for mass distribution in the design space [40,41].…”

Section: Topology Optimizationmentioning

confidence: 99%

A Review on Optimization Methods to Enhance Energy Efficiency of Robots

Srinivas¹,

Mane²,

Javed³

2019

EasyChair Preprints

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The aim of this paper is to make available of a comprehensive review and to provide a reference of existing methodologies developed for enhancing of the energy efficiency of robots. In the present scenario of increased application of robots, the huge energy consumption is also being predicted. One of the possible solutions for energy consumption can be in terms of developing energy efficient robots. In the domain of energy efficient robot, different attempts are made in past, such as use of lightweight material, analysis of speed, identification of the least energy consuming trajectories and reduction of components weight by topology optimization, etc. The available methodologies to reduce the energy consumption of industrial robots are classified into two groups. The first group comprises of the different attempts of energy efficiency through trajectory optimization of the manipulator. Here, the energy required to perform a particular task is considered. The path is then optimized for minimum power consumption of the motors. This approach is applicable to task-specific cycles. The second group comprises the application of topology optimization method. Topology optimization approach is developed in the last decade and proved to be a promising approach for minimization of the mass of a structural member of machine component. Presented work will be helpful to understand the advancement in this domain.

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Topology optimization for additive manufacturing using a component of a humanoid robot

Cited by 29 publications

References 5 publications

Design of an Additively Manufacturable Multi-Material Light-Weight Gripper with integrated Bellows Actuators

Design of an Additively Manufacturable Multi-Material Light-Weight Gripper with integrated Bellows Actuators

Challenges in Qualifying Additive Manufacturing for Turbine Components: A Review

A Review on Optimization Methods to Enhance Energy Efficiency of Robots

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