发表机构
Indian Institute of Technology Hyderabad（印度海得拉巴理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种基于拓扑优化的系统方法，设计多方向软体气动执行器，通过三场公式和达西定律建模，实现多方向运动。
AI 中文摘要
软体气动执行器（SPAs）在软体机器人领域极具前景，并已被广泛探索。在气动压力载荷下，SPA发生弯曲变形以执行特定任务。多方向或全向SPA能够在三维空间内向任意方向弯曲和移动，利用其多自由度实现各种机械功能。本工作提出了一种使用拓扑优化（TO）的系统方法，以实现多方向SPA的优化设计。为确保制造鲁棒性，实施了考虑蓝图、膨胀和侵蚀设计的三场TO公式。此外，采用包含排水项的达西定律来模拟气动载荷的设计依赖性。基于SPA单元的目标输出变形，构建了最小-最大优化问题，并使用移动渐近线方法求解。优化产生了高性能、非传统的几何设计。最后，数值模拟表明，优化后的SPA成功实现了多功能的多方向运动。
英文摘要
Soft pneumatic actuators (SPAs) are highly promising and have been extensively explored within the field of soft robotics. Under pneumatic pressure loads, an SPA undergoes bending deformation to perform specific tasks. A multi- or omni-directional SPA can bend and move in any direction within a 3D space, leveraging its multiple degrees of freedom to realize various mechanical functions. This work presents a systematic methodology using topology optimization (TO) to achieve an optimized design for a multi-directional SPAs. To ensure manufacturing robustness, a three-field TO formulation considering blueprint, dilated, and eroded designs is implemented. Additionally, Darcy's law, incorporating a drainage term, is used to model the design-dependent nature of the pneumatic loading. A min-max optimization problem is formulated based on the target output deformations of the SPA unit and solved using the Method of Moving Asymptotes. The optimization yields a high-performing, unconventional geometric design. Finally, numerical simulations demonstrate that the optimized SPA successfully achieves versatile multi-directional movements.
Comments6 pages
