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Exploring Concurrent Multi-materials and Multiscale Hybrid Topology Optimization for Lightweight Porous Gripping Mechanism

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Proceedings of the International Conference of Steel and Composite for Engineering Structures (ICSCES 2023)

Part of the book series: Lecture Notes in Civil Engineering ((LNCE,volume 486))

Abstract

Our research focuses on optimizing soft robotic gripper designs by employing an innovative hybrid topology approach with the aim of creating lightweight and porous grippers. Addressing the complex challenge of multiscale, multilateral topology optimization, we use a hybrid technique that combines SIMP (Solid Isotropic Material with Penalization) for macroscale optimization and MSB (Metaheuristic Structural Binary Distribution) for microscale optimization. At the microscale, our efforts are directed towards enhancing Young's modulus for weight reduction, considering orthotropic materials. Numerical examples in our study illustrate the adaptability of the microscale design to spatial configurations within both macro and microstructures. Various scenarios in macrostructure design demonstrate an advanced approach to strain energy distribution at the macroscale. Our innovative hybrid approach, integrating SIMP as for the macro-scale and MSB for micro-scale design, enables optimal designs while significantly reducing computational costs. This design methodology has the potential to yield novel, durable, lightweight, and porous soft robotic grippers with exceptional elastic flexibility.

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Author information

Authors and Affiliations

  1. Department of Advanced Science and Technology, Toyota Technological Institute, 2-12-1 Hisakata, Tenpaku-ku, Nagoya, Aichi, 468-8511, Japan

    Musaddiq Al Ali & Masatoshi Shimoda

  2. Design Engineering Lab Department of Mechanical Systems Engineering, Toyota Technological Institute, 2-12-1 Hisakata, Tenpaku-ku, Nagoya, Aichi, 468-8511, Japan

    Brahim Benaissa & Masakazu Kobayashi

  3. Soete Laboratory, Faculty of Engineering and Architecture, Ghent University, Wechnologiepark Zwijnaarde 903, 9052, Zwijnaarde, Belgium

    Samir Khatir

  4. Mécanique et Ingénierie des Transports, Institut Supérieur de l’Automobile et des Transports, 49 Rue Mademoiselle Bourgeois, 58027, Nevers, France

    Paul Vignon & Béatrice Lay

  5. Stellantis North America Headquarters, Auburn Hills, MI, 48326, USA

    Ameer Al-Shawk

Authors
  1. Musaddiq Al Ali
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  2. Brahim Benaissa
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  3. Samir Khatir
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  4. Masatoshi Shimoda
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  5. Masakazu Kobayashi
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  6. Paul Vignon
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  7. Ameer Al-Shawk
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  8. Béatrice Lay
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Corresponding author

Correspondence to Musaddiq Al Ali .

Editor information

Editors and Affiliations

  1. Design Engineering Laboratory, Toyota Technological Institute, Nagoya, Japan

    Brahim Benaissa

  2. DICEA, Università Politecnica delle Marche, Ancona, Italy

    Roberto Capozucca

  3. CEATS Center, Ho Chi Minh City Open University, Ho Chi Minh City, Vietnam

    Samir Khatir

  4. Dept. ABC, Politecnico di Milano, Milan, Italy

    Gabriele Milani

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Al Ali, M. et al. (2024). Exploring Concurrent Multi-materials and Multiscale Hybrid Topology Optimization for Lightweight Porous Gripping Mechanism. In: Benaissa, B., Capozucca, R., Khatir, S., Milani, G. (eds) Proceedings of the International Conference of Steel and Composite for Engineering Structures. ICSCES 2023. Lecture Notes in Civil Engineering, vol 486. Springer, Cham. https://doi.org/10.1007/978-3-031-57224-1_14

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  • DOI: https://doi.org/10.1007/978-3-031-57224-1_14

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