分层优化软夹爪设计，兼顾任务、运动与结构性能。
Hierarchical Performance-Based Design Optimization Framework for Soft Grippers
- 三层架构：任务-运动-设计逐层细化
- 整合参数与拓扑优化，平衡多指标表现
- 适合复杂任务的软体机器人设计者
本文提出一种分层式、基于性能的多指软夹爪设计优化框架。为系统定义性能指标，框架将优化过程分为三个集成层级：任务空间定义核心目标，运动空间将其转化为具体运动原语，设计空间则通过参数化与拓扑优化技术调整系统几何与材料分布，实现关键性能指标间的平衡。该分层结构提升了软夹爪设计的系统性，确保复杂任务下的性能均衡与可扩展性，推动软体机器人领域发展。
原文摘要 · Abstract (English)
This paper presents a hierarchical, performance-based framework for the design optimization of multi-fingered soft grippers. To address the need for systematically defined performance indices, the framework structures the optimization process into three integrated layers: Task Space, Motion Space, and Design Space. In the Task Space, performance indices are defined as core objectives, while the Motion Space interprets these into specific movement primitives. Finally, the Design Space applies parametric and topological optimization techniques to refine the geometry and material distribution of the system, achieving a balanced design across key performance metrics. The framework's layered structure enhances SG design, ensuring balanced performance and scalability for complex tasks and contributing to broader advancements in soft robotics.
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