Towards Topology Optimization of Pressure-Driven Soft Robots

Soft robots are made of compliant materials that perform their tasks by deriving motion from elastic deformations. They used in various applications, e.g., for handling fragile objects, navigating sensitive/complex environments, etc., and typically actuated Pneumatic/hydraulic loads. Though demands soft continuously increasing engineering sectors, due to the lack systematic approaches, they primarily designed manually. This paper presents a density-based topology optimization approach designing while considering design-dependent behavior actuating We use Darcy law with conceptualized drainage term model nature applied pressure The standard finite element is employed evaluate consistent nodal loads obtained field. robust formulation multi-criteria objective. success presented demonstrated member/soft robot pneumatic networks (PneuNets). optimized member combined several series get different PneuNets. Their CAD models generated, studied high-pressure commercial software. Depending upon number members PneuNets, output motions noted.