Topology Optimization of an Assembled 3D Printed Robot

This work presents the use of specialized software for topology optimization of all the links of an assembled 3D printed robot. The forces acting on the robot are determined, as well as their distribution. Various robot configurations are analyzed and the one that produces the maximum internal stresses is identified. A method for topology optimization of an entire robot in a given extreme configuration is presented. The internal stresses in different robot configurations are determined and the optimal shape of the links and the base is generated, in accordance with the functional requirements, applied loads and constraints. The results are presented graphically. A 3D printed prototype of the entire robot is created. Possible strategies for overall optimization of robots to cover the entire workspace are discussed.