用拓扑优化设计可制造的气动软执行器，提升弯曲性能。
Topology-Optimized Pneumatic Soft Actuator: Design and Experimental Validation
- 基于非线性拓扑优化，3D建模并生成两个可制造设计。
- 在限定应变下，压力作用时弯曲响应显著增强。
- 适合软体机器人、生物医学设备研发者参考。
本文采用非线性拓扑优化方法，实现了软弹性气动执行器的计算化设计。将原有的基于密度与孔隙超弹性理论的拓扑优化框架从二维扩展至三维，生成了两个可制造的执行器设计方案，并进行了数值分析与实验验证。两种设计的目标是在特定驱动压力下，于不同允许应变极限下最大化弯曲响应。所采用的拓扑优化框架在优化过程中能持续考虑加压后产生的大变形。两个优化后的3D结构通过立体光刻技术制造，并实验测试其性能以验证有效性。
原文摘要 · Abstract (English)
This paper demonstrates the computational design of soft elastomeric pneumatic actuators using nonlinear topology optimization. An existing density- and porohyperelasticity-based topology optimization framework was extended from 2D to 3D and used to generate two manufacturable actuator designs, which were then studied numerically and experimentally. For both designs, the objective was to maximize the bending response for a prescribed actuation pressure under two different allowable strain limits. A key advantage of the employed topology optimization framework is that it can consistently, during the optimization, account for the very large deformations induced upon pressurization. The two optimized 3D designs were fabricated using stereolithography and experimentally tested to validate their performance.
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