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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Optimal Design of Soft Pneumatic Bending Actuators Subjected to Design-Dependent Pressure Loads
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Optimal Design of Soft Pneumatic Bending Actuators Subjected to Design-Dependent Pressure Loads

机译：取决于设计压力负荷的软气动弯曲执行机构的优化设计

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摘要

Soft actuators, mainly composed of soft materials, have made a great impact on applications in unstructured or unknown environments due to their high flexibility and customizability. The design methods of soft actuators can be divided into two groups: the bionic design method and the topology optimization method. Compared to the bionic design method that requires numerous experiments, the topology optimization method can generate innovative structures according to the design requirements. However, the existing topology optimization method cannot be applied to soft pneumatic bending actuator (SPBA) designs because SPBAs are usually subjected to design-dependent pressure loads of which the position depends on the structure. In this paper, we propose an optimal design framework of SPBAs to resolve the design-dependent load problem using an adaptive bi-directional evolutionary structural optimization method. Herein, SPBAs are considered as compliant mechanisms and our goal is to achieve maximum bending deformation as well as structural stiffness. In finite element analysis, each element in the design domain is set to solid or void according to sensitivity number, which is approximated by the objective function derivative with respect to the design variables. During the iterative optimization procedure, we explicitly define the movable solid-void boundary surfaces on which the pressure will act. A precision prototype actuator is fabricated, and its performance is evaluated in terms of free travel experiment. Some extensions are supplied to validate the optimality and reliability of the proposed method. This framework paves a way for the diversity of soft actuators.
机译：软致动器主要由软材料组成，由于其高度的灵活性和可定制性，对非结构化或未知环境中的应用产生了巨大影响。软执行器的设计方法可分为两类：仿生设计方法和拓扑优化方法。与需要大量实验的仿生设计方法相比，拓扑优化方法可以根据设计要求生成创新的结构。但是，现有的拓扑优化方法不能应用于软气动弯曲执行器（SPBA）设计，因为SPBA通常承受与设计有关的压力载荷，其位置取决于结构。在本文中，我们提出了一种SPBA的最佳设计框架，以使用自适应双向演化结构优化方法解决与设计有关的载荷问题。在此，SPBA被视为顺应性机构，我们的目标是实现最大的弯曲变形以及结构刚度。在有限元分析中，设计域中的每个元素根据敏感度数设置为实心或空虚，该敏感度数由目标函数导数相对于设计变量来近似。在迭代优化过程中，我们明确定义了将在其上作用压力的可移动实心边界表面。制造了一个精密的原型致动器，并根据自由行程实验对其性能进行了评估。提供了一些扩展来验证所提出方法的最优性和可靠性。该框架为软促动器的多样性铺平了道路。

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