Topology optimization for multi-component robotic arms under time-varying loads

Wu, C; Xu, Y; Fang, J; Sun, G; Steven, GP; Li, Q

Topology optimization for multi-component robotic arms under time-varying loads

Wu, C Xu, Y Fang, J

Sun, G Steven, GP Li, Q

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Publisher:: Springer Nature
Publication Type:: Journal Article
Citation:: Structural and Multidisciplinary Optimization, 2025, 68, (9), pp. 188
Issue Date:: 2025-09-01

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Field	Value	Language
dc.contributor.author	Wu, C
dc.contributor.author	Xu, Y
dc.contributor.author	Fang, J https://orcid.org/0000-0003-0119-6108
dc.contributor.author	Sun, G
dc.contributor.author	Steven, GP
dc.contributor.author	Li, Q
dc.date.accessioned	2025-10-15T04:13:04Z
dc.date.available	2025-10-15T04:13:04Z
dc.date.issued	2025-09-01
dc.identifier.citation	Structural and Multidisciplinary Optimization, 2025, 68, (9), pp. 188
dc.identifier.issn	1615-147X
dc.identifier.issn	1615-1488
dc.identifier.uri	http://hdl.handle.net/10453/190478
dc.description.abstract	High structural performance of robotic arms is essential for positioning precision and energy efficiency in industrial applications. This study presents a design-dependent topology optimization framework for multi-component robotic arms, addressing dynamic multi-load scenarios during motion. Utilizing the Bi-directional Evolutionary Structural Optimization (BESO) method, the framework incorporates self-weight and inertial loads and takes into account the time-varying acceleration of serial robotic arms in a forward manner. The objective is to minimize mean compliance under a transient context. Three numerical examples, namely a 2D single robotic arm, a 3D two-arm in-plane rotation, and a 3D three-arm spatial movement, are presented to demonstrate the efficacy of the proposed framework. The optimization results highlight the necessity of considering design-dependent loads and different robotic configurations in topological evolution. Comparative studies on motion strategies and travel times further emphasize the importance of integrating structural performance with movement dynamics. This approach offers significant insights into the topological design of robotic arms, potentially improving their operational efficiency and precision in various industrial applications.
dc.language	en
dc.publisher	Springer Nature
dc.relation.ispartof	Structural and Multidisciplinary Optimization
dc.relation.isbasedon	10.1007/s00158-025-04129-1
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	01 Mathematical Sciences, 09 Engineering
dc.subject.classification	Design Practice & Management
dc.subject.classification	40 Engineering
dc.subject.classification	49 Mathematical sciences
dc.title	Topology optimization for multi-component robotic arms under time-varying loads
dc.type	Journal Article
utslib.citation.volume	68
utslib.for	01 Mathematical Sciences
utslib.for	09 Engineering
pubs.organisational-group	University of Technology Sydney
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology/School of Civil and Environmental Engineering
pubs.organisational-group	University of Technology Sydney/UTS Groups
pubs.organisational-group	University of Technology Sydney/UTS Groups/Chancellor's Research Fellows
utslib.copyright.status	open_access	*
dc.rights.license	This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0). To view a copy of this license, visit https://creativecommons.org/licenses/by/4.0/
dc.date.updated	2025-10-15T04:13:00Z
pubs.issue	9
pubs.publication-status	Published
pubs.volume	68
utslib.citation.issue	9

Abstract:

High structural performance of robotic arms is essential for positioning precision and energy efficiency in industrial applications. This study presents a design-dependent topology optimization framework for multi-component robotic arms, addressing dynamic multi-load scenarios during motion. Utilizing the Bi-directional Evolutionary Structural Optimization (BESO) method, the framework incorporates self-weight and inertial loads and takes into account the time-varying acceleration of serial robotic arms in a forward manner. The objective is to minimize mean compliance under a transient context. Three numerical examples, namely a 2D single robotic arm, a 3D two-arm in-plane rotation, and a 3D three-arm spatial movement, are presented to demonstrate the efficacy of the proposed framework. The optimization results highlight the necessity of considering design-dependent loads and different robotic configurations in topological evolution. Comparative studies on motion strategies and travel times further emphasize the importance of integrating structural performance with movement dynamics. This approach offers significant insights into the topological design of robotic arms, potentially improving their operational efficiency and precision in various industrial applications.

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http://hdl.handle.net/10453/190478