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2023 | OriginalPaper | Chapter

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

Authors : Musaddiq Al Ali, Masatoshi Shimoda, Brahim Benaissa, Masakazu Kobayashi

Published in: Proceedings of the International Conference of Steel and Composite for Engineering Structures

Publisher: Springer International Publishing

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Abstract

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
Authors: Musaddiq Al Ali
Masatoshi Shimoda
Brahim Benaissa
Masakazu Kobayashi
Publisher: Springer International Publishing
Book: Proceedings of the International Conference of Steel and Composite for Engineering Structures
Print ISBN: 978-3-031-24040-9

Electronic ISBN: 978-3-031-24041-6

Copyright Year: 2023
DOI: https://doi.org/10.1007/978-3-031-24041-6_22

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