Topology optimization for robotics applications

Abstract

Abstract Topology optimization, a computational design method, is discussed in the context of the design of robotic systems. Topology optimization harnesses finite element models within an optimization loop to design components for various purposes, the most famous of which is static structural design. Robotics platforms are ripe with opportunities for optimization, including the traditional application of structural compliance minimization or stiffness maximization. Novel formulations and applications of topology optimization allow for even greater automated design optimization, as will be shown. In this chapter, we give an overview of topology optimization, specifically a formulation known as the Heaviside projection method. This method is then applied to several examples, including multifunctional designs, multimaterial designs, and manufacturing cognizant designs.