基于变宽曲线的软体机器人形状与拓扑优化设计研究

This project aims at constructing a design system based on topology optimization method for soft robot which is built with soft materials. Soft robots are continuum structures as same as compliant mechanisms. This project will conduct systematic research on soft robot design by structural topology optimization using fat curves. In this work, a novel representation scheme is presented. The representation scheme is characterized by fat curves, that are used to connect interaction regions of the structure. It can easily handle the change of topology and shape of structures while keeping the boundary smooth. Based on the view that muscles of arthropods connect to the exoskeleton and enable the animal to control movement, a multi-material structure is represented. This can improve productivity and performance of multimaterial mechanisms. Combining soft structures with rigid parts, driving system, and flexible sensors, soft robots can be represented. The analysis is conducted to soft robot with softbody dyanmatics and rigid body dynamatics. The deisgn of soft robot is accomplished by formulating the design problem as a structural topology and shape optimization problem with drive and contact constraints. A multi-objective genetic algorithm is then applied coupled with the representation scheme for defining and encoding the structural geometry as a chromosome in the form of a graph. Prototypes of locomotioon soft robots will be fabricated and tested to demonstrate that the design method is appropriate and to find where it can be further optimized.

本项目以由柔软材料组成的软体机器人为研究对象，目标建立一套基于拓扑优化方法的软体机器人设计体系。软体机器人为连续体机构，本项目参照柔顺机构设计，采用拓扑优化设计方法理论对软体机器人进行自动化设计。通过建立以交互区域为核心的基于变宽曲线的几何表述方式，有效处理形状与拓扑结构并保持结构边界的光滑。借鉴节肢动物外骨骼能与内壁所附着肌肉共同完成各种运动，采取“肌肉附着于外骨骼壁”方式表征多材料机构，提升构型清晰度和材料区分度。组合柔顺软体机构和硬质组件、驱动、柔性传感等，形成软体机器人机构表述。结合软体动力学和刚体动力学，进行软体机器人的运动学动力学分析。采用图的形式对软体机器人进行基因编码，针对移动软体机器人, 建立以驱动、接触等为约束的多目标优化数学模型，利用进化算法的全局寻优能力完成对软体机器人的自动化设计。建立实验平台，对理论研究的正确性进行验证，同时为软体机器人的进一步优化设计提供依据。

本项目以由柔软材料组成的软体机器人为研究对象，目标建立一套基于拓扑优化方法的软体机器人设计体系。软体机器人为连续体机构，本项目参照柔顺机构设计，采用拓扑优化设计方法理论对软体机器人进行自动化设计。通过建立以交互区域为核心的基于变宽曲线的几何表述方式，有效处理形状与拓扑结构并保持结构边界的光滑。借鉴节肢动物外骨骼能与内壁所附着肌肉共同完成各种运动，采取“肌肉附着于外骨骼壁”方式表征多材料机构，提升构型清晰度和材料区分度。组合柔顺软体机构和硬质组件、驱动、柔性传感等，形成软体机器人机构表述。结合软体动力学和刚体动力学，进行软体机器人的运动学动力学分析。采用图的形式对软体机器人进行基因编码，针对移动软体机器人, 建立以驱动、接触等为约束的多目标优化数学模型，利用进化算法的全局寻优能力完成对软体机器人的自动化设计。建立实验平台，对理论研究的正确性进行验证，同时为软体机器人的进一步优化设计提供依据。