基于多孔超弹性的气动软体执行器拓扑优化
Topology Optimization of Pneumatic Soft Actuators Based on Porohyperelasticity
AI总结：
提出一种基于多孔超弹性和 Darcy 流动扩展的非线性密度拓扑优化框架，用于在给定压力与阻力下最大化气动软体执行器弯曲响应。
摘要：
本文介绍了一种新的非线性拓扑优化框架，该框架采用多孔超弹性理论，为气动软体执行器提供计算设计。研究使用基于密度的拓扑优化，目标是在给定驱动压力和外部阻力的情况下，最大化由弹性体制成的软体执行器的弯曲响应。通过扩展适用于大变形的 Darcy 流动理论，对相互连通腔体的加压过程进行建模。该框架良好性能的关键在于：在孔隙区域与实体区域之间谨慎选择渗透率插值格式，并在实体区域中适当定义排水项。文中给出了在多种驱动压力和最大允许应变能密度水平下的结果，覆盖了从小变形到相当大变形的广泛系统响应。
英文摘要：
This paper introduces a new nonlinear topology optimization framework which employs porohyperelasticity for providing computational design of pneumatic soft actuators. Density-based topology optimization is used with the objective of maximizing the bending response in a soft actuator made of an elastomer, for given actuation pressure and external resistance. Pressurization of interconnected cavities is modeled via an extension of the Darcy flow theory that is valid for large deformations. Essential for the good performance of the framework is a carefully chosen interpolation scheme for the permeability between void and solid regions, as well as a suitable definition of a drainage term in the solid regions. Results are shown for a variety of actuation pressure and maximum allowable strain energy density levels, covering a wide range of system responses from small to rather large deformations.
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