Print Email Facebook Twitter Topological synthesis of fluidic pressure-actuated robust compliant mechanisms Title Topological synthesis of fluidic pressure-actuated robust compliant mechanisms Author Kumar, Prabhat (Indian Institute of Technology Hyderabad; Indian Institute of Science) Langelaar, Matthijs (TU Delft Computational Design and Mechanics) Date 2022 Abstract This paper presents a robust density-based topology optimization approach for synthesizing pressure-actuated compliant mechanisms. To ensure functionality under manufacturing inaccuracies, the robust or three-field formulation is employed, involving dilated, intermediate and eroded realizations of the design. Darcy's law in conjunction with a conceptualized drainage term is used to model the pressure load as a function of the design vector. The consistent nodal loads are evaluated from the obtained pressure field using the standard finite element method. The objective and load sensitivities are obtained using the adjoint-variable approach. A multi-criteria objective involving both the stiffness and flexibility of the mechanism is employed in the robust formulation, and min–max optimization problems are solved to obtain pressure-actuated inverter, gripper, and contractor compliant mechanisms with different minimum feature sizes. Limitations of the linear elasticity assumptions while designing mechanisms are identified with high pressure loads. Challenges involved in designing finite deformable pressure-actuated compliant mechanisms are presented. Subject 3D-PrintingFollower forcesGeometric nonlinearityPressure-driven compliant mechanismsRobust formulationSoft robots To reference this document use: http://resolver.tudelft.nl/uuid:f95c3e16-f254-4ae7-a6bd-8d62942f98ee DOI https://doi.org/10.1016/j.mechmachtheory.2022.104871 Embargo date 2022-11-04 ISSN 0094-114X Source Mechanism and Machine Theory, 174 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 Prabhat Kumar, Matthijs Langelaar Files PDF 1_s2.0_S0094114X22001367_main.pdf 5.08 MB Close viewer /islandora/object/uuid:f95c3e16-f254-4ae7-a6bd-8d62942f98ee/datastream/OBJ/view