用扩展水平集方法设计共形铁磁软执行器

Jiawei Tian, Xuanhe Zhao, X. Gu, Shikui Chen
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引用次数: 3

摘要

铁磁软材料(FSM)可以响应外部磁场产生灵活的运动和位移形态。它们被设计用于各种有前途的应用中,如软机器人、柔性执行器或仿生设备等。通过在软弹性体基体中使用不同的磁化方式,铁磁性软物质可以实现各种形状的变化。虽然许多磁性软机器人已经被设计和制造出来,但它们受到设计者直觉的限制。拓扑优化(TO)是一种系统的数学方法,通过优化设计域内的材料布局来创造创新结构,而不依赖于设计者的直觉。它可用于构建铁磁软主动结构。由于这些“软机器”大多以薄壳结构的形式存在,本文采用扩展水平集方法(X-LSM)和保角映射理论对流形上的铁磁软执行器进行拓扑优化。目标函数由满足运动学要求的子目标函数和满足最小柔度要求的子目标函数组成。利用材料时间导数和伴随变量法推导了形状敏感性分析。以圆壳作动器和捕蝇器结构为例,验证了所提框架的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Designing Conformal Ferromagnetic Soft Actuators Using Extended Level Set Methods (X-LSM)
Ferromagnetic soft materials (FSM) can generate flexible movement and shift morphology in response to an external magnetic field. They have been engineered to design products in a variety of promising applications, such as soft robots, compliant actuators, or bionic devices, et al. By using different patterns of magnetization in the soft elastomer matrix, ferromagnetic soft matters can achieve various shape changes. Although many magnetic soft robots have been designed and fabricated, they are limited by the designers’ intuition. Topology optimization (TO) is a systematically mathematical method to create innovative structures by optimizing the material layout within a design domain without relying on the designers’ intuition. It can be utilized to architect ferromagnetic soft active structures. Since many of these ‘soft machines’ exist in the form of thin-shell structures, in this paper, the extended level set method (X-LSM) and conformal mapping theory are employed to carry out topology optimization of the ferromagnetic soft actuator on manifolds. The objective function consists of a sub-objective function for the kinematics requirement and a sub-objective function for minimum compliance. Shape sensitivity analysis is derived using the material time derivative and adjoint variable method. Two examples, including a circular shell actuator and a flytrap structure, are studied to demonstrate the effectiveness of the proposed framework.
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