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Concurrent Multiscale Hybrid Topology Optimization for Light Weight Porous Soft Robotic Hand with High Cellular Stiffness

Al Ali, Musaddiq / Shimoda, Masatoshi / Benaissa, Brahim / Kobayashi, Masakazu

This article's primary objective is to investigate the topological optimization of soft robotic grips, using hybrid topology optimization. For the goal of creating light weight and porous soft gripper designs. This task is constituted of two design problem, for which we developed a hybrid SIMP-ESO approach, where SIMP solves the macroscale and ESO solves the microscale optimization. We formulate the microstructure as the maximum allowable young moduli that can be achieved for high weight minimization for the microscale, considering the case of orthotropic materials. To examine the performance of the suggested method we evaluate several macro scale and microscale combinations. The results attained robust and 3D printable designs.

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Concurrent Multiscale Hybrid Topology Optimization for Light Weight Porous Soft Robotic Hand with High Cellular Stiffness

Al Ali, Musaddiq / Shimoda, Masatoshi / Benaissa, Brahim / Kobayashi, Masakazu

This article's primary objective is to investigate the topological optimization of soft robotic grips, using hybrid topology optimization. For the goal of creating light weight and porous soft gripper designs. This task is constituted of two design problem, for which we developed a hybrid SIMP-ESO approach, where SIMP solves the macroscale and ESO solves the microscale optimization. We formulate the microstructure as the maximum allowable young moduli that can be achieved for high weight minimization for the microscale, considering the case of orthotropic materials. To examine the performance of the suggested method we evaluate several macro scale and microscale combinations. The results attained robust and 3D printable designs.

Concurrent Multiscale Hybrid Topology Optimization for Light Weight Porous Soft Robotic Hand with High Cellular Stiffness

Al Ali, Musaddiq / Shimoda, Masatoshi / Benaissa, Brahim / Kobayashi, Masakazu

This article's primary objective is to investigate the topological optimization of soft robotic grips, using hybrid topology optimization. For the goal of creating light weight and porous soft gripper designs. This task is constituted of two design problem, for which we developed a hybrid SIMP-ESO approach, where SIMP solves the macroscale and ESO solves the microscale optimization. We formulate the microstructure as the maximum allowable young moduli that can be achieved for high weight minimization for the microscale, considering the case of orthotropic materials. To examine the performance of the suggested method we evaluate several macro scale and microscale combinations. The results attained robust and 3D printable designs.

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Title:

Concurrent Multiscale Hybrid Topology Optimization for Light Weight Porous Soft Robotic Hand with High Cellular Stiffness

Additional title:

Lecture Notes in Civil Engineering

Contributors:

Capozucca, Roberto (editor) / Khatir, Samir (editor) / Milani, Gabriele (editor) / Al Ali, Musaddiq (author) / Shimoda, Masatoshi (author) / Benaissa, Brahim (author) / Kobayashi, Masakazu (author)

Conference:

International Conference of Steel and Composite for Engineering Structures ; 2022 ; Ancona, Italy

Published in:

Proceedings of the International Conference of Steel and Composite for Engineering Structures ; Chapter: 22 ; 265-278

Lecture Notes in Civil Engineering ; 317

Publication date:

2023-01-31

Size:

14 pages

ISBN:

978-3-031-24041-6 , 978-3-031-24040-9

ISSN:

2366-2565 , 2366-2557

DOI:

https://doi.org/10.1007/978-3-031-24041-6_22

Type of media:

Article/Chapter (Book)

Type of material:

Electronic Resource

Language:

English

Keywords:

Soft robotics , Porous structure , Multiscale , Hybrid topology optimization Engineering , Building Materials , Structural Materials , Mechanical Engineering

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