Simultaneous shape and topology optimization of inflatable soft robots

Dalklint, Anna; Wallin, Mathias; Tortorelli, Daniel

doi:10.1016/j.cma.2024.116751

Title: Simultaneous shape and topology optimization of inflatable soft robots

Journal Article · 09 January 2024 · Computer Methods in Applied Mechanics and Engineering

DOI: https://doi.org/10.1016/j.cma.2024.116751 · OSTI ID:2280890

^[1]; Wallin, Mathias ^[1]; Tortorelli, Daniel ^[2]

Lund Univ. (Sweden)
Univ. of Illinois at Urbana-Champaign, IL (United States); Lawrence Livermore National Laboratory (LLNL), Livermore, CA (United States)

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.

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Research Organization:: Lawrence Livermore National Laboratory (LLNL), Livermore, CA (United States)

Sponsoring Organization:: USDOE National Nuclear Security Administration (NNSA)

Grant/Contract Number:: AC52-07NA27344

OSTI ID:: 2280890

Report Number(s):: LLNL--JRNL-855388; 1084417

Journal Information:: Computer Methods in Applied Mechanics and Engineering, Journal Name: Computer Methods in Applied Mechanics and Engineering Journal Issue: A Vol. 420; ISSN 0045-7825

Publisher:: ElsevierCopyright Statement

Country of Publication:: United States

Language:: English

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Title: Simultaneous shape and topology optimization of inflatable soft robots

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