Simultaneous shape and topology optimization of inflatable soft robots
(2024) In Computer Methods in Applied Mechanics and Engineering 420.- Abstract
Simultaneous shape and topology optimization is used to design pressure-activated inflatable soft robots. The pressure loaded boundary is meshed conformingly and shape optimized, while the morphology of the robot is topology optimized. The design objective is to exert maximum force on an object, i.e. to produce soft “grippers”. The robot's motion is modeled using nearly incompressible finite deformation hyperelasticity. To ensure stability of the robot, the buckling load factors obtained via linearized buckling analyses are constrained. The finite element method is used to evaluate the optimization cost and constraint functions and the adjoint method is employed to compute their sensitivities. The numerical examples produce... (More)
Simultaneous shape and topology optimization is used to design pressure-activated inflatable soft robots. The pressure loaded boundary is meshed conformingly and shape optimized, while the morphology of the robot is topology optimized. The design objective is to exert maximum force on an object, i.e. to produce soft “grippers”. The robot's motion is modeled using nearly incompressible finite deformation hyperelasticity. To ensure stability of the robot, the buckling load factors obtained via linearized buckling analyses are constrained. The finite element method is used to evaluate the optimization cost and constraint functions and the adjoint method is employed to compute their sensitivities. The numerical examples produce pressure-driven soft robots with varying complexity. We also compare our simultaneous optimization results to those obtained via sequential topology and then shape optimization.
(Less)
- author
- Dalklint, Anna LU ; Wallin, Mathias LU and Tortorelli, Daniel
- organization
- publishing date
- 2024-02
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Mixed displacement–pressure formulation, Pressure load, Shape optimization, Soft robotics, Topology optimization
- in
- Computer Methods in Applied Mechanics and Engineering
- volume
- 420
- article number
- 116751
- publisher
- Elsevier
- external identifiers
-
- scopus:85181938342
- ISSN
- 0045-7825
- DOI
- 10.1016/j.cma.2024.116751
- language
- English
- LU publication?
- yes
- id
- 02bbca70-5239-4557-a594-63d641830f72
- date added to LUP
- 2024-02-09 15:01:50
- date last changed
- 2024-02-09 15:03:52
@article{02bbca70-5239-4557-a594-63d641830f72,
abstract = {{<p>Simultaneous shape and topology optimization is used to design pressure-activated inflatable soft robots. The pressure loaded boundary is meshed conformingly and shape optimized, while the morphology of the robot is topology optimized. The design objective is to exert maximum force on an object, i.e. to produce soft “grippers”. The robot's motion is modeled using nearly incompressible finite deformation hyperelasticity. To ensure stability of the robot, the buckling load factors obtained via linearized buckling analyses are constrained. The finite element method is used to evaluate the optimization cost and constraint functions and the adjoint method is employed to compute their sensitivities. The numerical examples produce pressure-driven soft robots with varying complexity. We also compare our simultaneous optimization results to those obtained via sequential topology and then shape optimization.</p>}},
author = {{Dalklint, Anna and Wallin, Mathias and Tortorelli, Daniel}},
issn = {{0045-7825}},
keywords = {{Mixed displacement–pressure formulation; Pressure load; Shape optimization; Soft robotics; Topology optimization}},
language = {{eng}},
publisher = {{Elsevier}},
series = {{Computer Methods in Applied Mechanics and Engineering}},
title = {{Simultaneous shape and topology optimization of inflatable soft robots}},
url = {{http://dx.doi.org/10.1016/j.cma.2024.116751}},
doi = {{10.1016/j.cma.2024.116751}},
volume = {{420}},
year = {{2024}},
}