Towards Topology Optimization of Pressure-Driven Soft Robots

Kumar, Prabhat

doi:10.1007/978-3-031-20353-4_2

Cited by 3 publications

(7 citation statements)

References 28 publications

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“…Therefore, the paper's primary aim is to offer a pedagogical MATLAB code and its extensions for topology optimization of strucutres involving design-dependent fluidic pressure loads with all the required ingredients to reduce barriers to beginners' learning steps and fill the existing gap. And also, we except that the proposed code will provide a basic platform for developing and extending it for different applications involving pressure (pneumatic) loads, e.g., pneumatically activated soft robotics (Xavier et al, 2022;Kumar, 2023), pressurized meta-material, etc.…”

Section: Introductionmentioning

confidence: 99%

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TOPress: a MATLAB implementation for topology optimization of structures subjected to design-dependent pressure loads

Kumar

2023

Struct Multidisc Optim

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In a topology optimization setting, design-dependent fluidic pressure loads pose several challenges as their direction, magnitude, and location alter with topology evolution. This paper offers a compact 100-line MATLAB code, TOPress, for topology optimization of structures subjected to fluidic pressure loads using the method of moving asymptotes. The code is intended for pedagogical purposes and aims to ease the beginners' and students' learning toward the topology optimization with designdependent fluidic pressure loads. TOPress is developed per the approach first reported in Kumar et al. (Struct Multidisc Optim 61(4):1637-1655, 2020). The Darcy law, in conjunction with the drainage term, is used to model the applied pressure load. The consistent nodal loads are determined from the obtained pressure field. The employed approach facilitates inexpensive computation of the load sensitivities using the adjoint-variable method. Compliance minimization subject to volume constraint optimization problems are solved. The success and efficacy of the code are demonstrated by solving benchmark numerical examples involving pressure loads, wherein the importance of load sensitivities is also demonstrated. TOPress contains six main parts, is described in detail, and is extended to solve different problems. Steps to include a projection filter are provided to achieve loadbearing designs close to 0-1. The code is provided in Appendix B and can also be downloaded along with its extensions from https://github.com/PrabhatIn/TOPress.

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Section: Introductionmentioning

confidence: 99%

“…is expected to open a potential direction towards developing soft robots using TO (Kumar, 2023). Further, the method is readily extended for optimizing 3D loadbearing designs and pressure-driven compliant mechanisms in Kumar and Langelaar (2021).…”

Section: Introductionmentioning

confidence: 99%

TOPress: a MATLAB implementation for topology optimization of structures subjected to design-dependent pressure loads

Kumar

2023

Struct Multidisc Optim

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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%

“…Soft robots are designed using materials with Young's modulus ranging from kilopascals to megapascals. These robots perform tasks by utilizing the deformation of their flexible bodies, making them well-suited for various purposes, such as human interaction in unstructured and dynamic environments, fragile objects handling, fruit and vegetable picking and placing, and achieving high power-to-weight ratios (Kumar, 2022;Xavier et al, 2022). Thus, nowadays, they find various applications in, e.g., gripping (Xie et al, 2020;Pinskier et al, 2023), sensing (Zhao et al, (Hu et al, 2018), rehabilitation (Polygerinos et al, 2013), handling soft and fragile objects (Shintake et al, 2018;Deimel and Brock, 2013), and human-robot interaction (Deimel and Brock, 2013), etc.…”

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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A Survey on the Current Trends and Applications of Design Optimization for Compliant and Soft Robotics

Muralidharan

Ανδρικόπουλος

Feng

2023

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Towards Topology Optimization of Pressure-Driven Soft Robots

Cited by 3 publications

References 28 publications

TOPress: a MATLAB implementation for topology optimization of structures subjected to design-dependent pressure loads

TOPress: a MATLAB implementation for topology optimization of structures subjected to design-dependent pressure loads

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

A Survey on the Current Trends and Applications of Design Optimization for Compliant and Soft Robotics

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