Structural and Topological Optimization in Robot Design

This work focuses on implementing and applying procedures to optimize the structure of a robot. This research addresses the problem of determining the optimal topology which maximizes the rigidity of bodies subject to local stress by uniting structures with different densities and materials. This methodology provides a functional analysis of the robot in operation from a three-dimensional elastic perspective with a view to deriving the best configuration. After a description and an analysis of current optimization techniques, topological and geometrical methods, SKO (Soft Kill Option) are implemented in a FEM code to appraise the robot’s components and to allow multiple dynamic loading conditions. We discuss about some solutions obtained by the classical approach of scaling the stress maximum associated only by assigning weights and dimensions, and then the results obtained with the new methodology. The proposed methodology was applied to studying a ‘Tribot’ robot (fig. 1). The Tribot has three parts: two split driving parts and a manipulator with modular behaviour. Topological optimization includes aspects such as redrawing size and shape of component. By using the methodology of rapid prototyping (RP) the solutions were assessed quickly and particularly lightweight. Reliable modular structures were built.