Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization

Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped robots.Among various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large payloads.As the most critical movement unit of a quadruped robot,the limb leg unit(LLU)directly affects movement speed and reliability,and requires a compact and lightweight design.Inspired by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an LLU.We propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston rod.In addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the LLU.The mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah muscle.The mass of the optimized LLU is reduced by 24.5%,and the optimized LLU shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.

Advancements in machine learning for material design and process optimization in the field of additive manufacturing

Additive manufacturing technology is highly regarded due to its advantages,such as high precision and the ability to address complex geometric challenges.However,the development of additive manufacturing process is constrained by issues like unclear fundamental principles,complex experimental cycles,and high costs.Machine learning,as a novel artificial intelligence technology,has the potential to deeply engage in the development of additive manufacturing process,assisting engineers in learning and developing new techniques.This paper provides a comprehensive overview of the research and applications of machine learning in the field of additive manufacturing,particularly in model design and process development.Firstly,it introduces the background and significance of machine learning-assisted design in additive manufacturing process.It then further delves into the application of machine learning in additive manufacturing,focusing on model design and process guidance.Finally,it concludes by summarizing and forecasting the development trends of machine learning technology in the field of additive manufacturing.

Ballistic performance of additive manufacturing 316l stainless steel projectiles based on topology optimization method

Material and structure made by additive manufacturing(AM)have received much attention lately due to their flexibility and ability to customize complex structures.This study first implements multiple objective topology optimization simulations based on a projectile perforation model,and a new topologic projectile is obtained.Then two types of 316L stainless steel projectiles(the solid and the topology)are printed in a selective laser melt(SLM)machine to evaluate the penetration performance of the projectiles by the ballistic test.The experiment results show that the dimensionless specific kinetic energy value of topologic projectiles is higher than that of solid projectiles,indicating the better penetration ability of the topologic projectiles.Finally,microscopic studies(scanning electron microscope and X-ray micro-CT)are performed on the remaining projectiles to investigate the failure mechanism of the internal structure of the topologic projectiles.An explicit dynamics simulation was also performed,and the failure locations of the residual topologic projectiles were in good agreement with the experimental results,which can better guide the design of new projectiles combining AM and topology optimization in the future.

A novel Ti-5.55Al-6.70Zr-1.50V-0.70Mo-3.41Nb-0.21Si alloy designed using cluster-plus-glue-atom model for laser additive manufacturing

A novel Ti-5.55Al-6.70Zr-1.50V-0.70Mo-3.41Nb-0.21Si alloy was designed using the cluster formula approach(cluster-plus-glue-atom model)and prepared by laser melting deposition(LMD).Its composition formula 12[Al-Ti_(12)](AlTi_(2))+5[Al_(0.8)Si_(0.2)-Ti_(12)Zr_(2)](V_(0.8)Mo_(0.2)Nb_(1)Ti)features an enhancedβ-Ti via co-alloying of Zr,V,Mo,Nb and Si.The experimental results show that the cluster formula ofαandβphases in the novel alloy are respectivelyα-[Al-Ti_(11.5)Zr_(0.5)](Al_(1)Ti_(2))andβ-[Al_(0.8)Si_(0.2)-Ti_(13.2)Zr_(0.8)](V_(1)Mo_(0.4)Nb_(1.6)),both containing Zr elements.The fitted composition via the α andβphase cluster formulas has little difference with the actual alloy composition,suggesting that the validity of cluster-plus-glue-atom model in the alloy composition design.After hot isostatic pressing(HIP),both the Ti-6Al-4V and the novel alloy by LMD are characterized by prior-βcolumnar grains,while the typical<100>texture disappears.Compared with Ti-6Al-4V,Ti-5.55Al-6.70Zr-1.50V-0.70Mo-3.41Nb-0.21Si alloy exhibits a combination of higher strength(1,056 MPa)and higher ductility(14%)at room temperature and higher strength(580 MPa)at 550℃ after HIP,and can potentially serves as LMD materials.

Additive manufactured osseointegrated screws with hierarchical design

Bone screws are devices used to fix implants or bones to bones.However,conventional screws are mechanically fixed with thread and often face long-term failure due to poor osseointegration.To improve osseointegration,screws are evolving from solid and smooth to porous and rough.Additive manufacturing(AM)offers a high degree of manufacturing freedom,enabling the preparation of predesigned screws that are porous and rough.This paper provides an overview of the problems currently faced by bone screws:long-term loosening and screw breakage.Next,advances in osseointegrated screws are summarized hierarchically(sub-micro,micro,and macro).At the sub-microscale level,we describe surface-modification techniques for enhancing osseointegration.At the micro level,we summarize the micro-design parameters that affect the mechanical and biological properties of porous osseointegrated screws,including porosity,pore size,and pore shape.In addition,we highlight three promising pore shapes:triply periodic minimal surface,auxetic structure with negative Poisson ratio,and the Voronoi structure.At the macro level,we outline the strategies of graded design,gradient design,and topology optimization design to improve the mechanical strength of porous osseointegrated screws.Simultaneously,this paper outlines advances in AM technology for enhancing the mechanical properties of porous osseointegrated screws.AM osseointegrated screws with hierarchical design are expected to provide excellent long-term fixation and the required mechanical strength.

Impact Performance Research of Re-Entrant Octagonal Negative Poisson’s Ratio Honeycomb with Gradient Design

Based on the traditional re-entrant honeycomb,a novel re-entrant octagon honeycomb(ROH)is proposed.The deformation mode of the honeycomb under quasi-static compression is analyzed by numerical simulation,and the results are in good agreement with the experimental ones.The deformation modes,mechanical properties,and energy absorption characteristics of ROH along the impact and perpendicular directions gradient design are investigated under different velocities.The results indicated that the deformation mode of ROH is affected by gradient design along the direction of impact and impact speed.In addition,gradient design along the direction of impact can increase the initial peak stress of ROH and accelerate its densification phase.Gradient design perpendicular to the impact direction can enhance the energy absorption performance of ROH,especially for ROH,with wall thickness increasing from the inside outwards.Compared to ROH with uniform wall thickness at the same relative density,ROH with a gradient design can increase the plateau stress by over half.With the elevation of impact velocity,the plateau stress and specific energy absorption exhibit an upward trend,aligning with the dynamic performance pattern observed in conventional honeycombs.The results can be used as a reference for the design and application of honeycomb and provide a new idea for developing more efficient and reliable energy-absorbing materials.

Research progress in CALPHAD assisted metal additive manufacturing

Metal additive manufacturing(MAM)technology has experienced rapid development in recent years.As both equipment and materials progress towards increased maturity and commercialization,material metallurgy technology based on high energy sources has become a key factor influencing the future development of MAM.The calculation of phase diagrams(CALPHAD)is an essential method and tool for constructing multi-component phase diagrams by employing experimental phase diagrams and Gibbs free energy models of simple systems.By combining with the element mobility data and non-equilibrium phase transition model,it has been widely used in the analysis of traditional metal materials.The development of CALPHAD application technology for MAM is focused on the compositional design of printable materials,the reduction of metallurgical imperfections,and the control of microstructural attributes.This endeavor carries considerable theoretical and practical significance.This paper summarizes the important achievements of CALPHAD in additive manufacturing(AM)technology in recent years,including material design,process parameter optimization,microstructure evolution simulation,and properties prediction.Finally,the limitations of applying CALPHAD technology to MAM technology are discussed,along with prospective research directions.

Design and In Situ Additive Manufacturing of Multifunctional Structures

Multifunctional structures(MFSs)integrate diverse functions to achieve superior properties.However,conventional design and manufacturing methods—which generally lack quality control and largely depend on complex equipment with multiple stations to achieve the integration of distinct materials and devices—are unable to satisfy the requirements of MFS applications in emerging industries such as aerospace engineering.Motivated by the concept of design for manufacturing,we adopt a layer regulation method with an established optimization model to design typical MFSs with load-bearing,electric,heat-conduction,and radiation-shielding functions.A high-temperature in situ additive manufacturing(AM)technology is developed to print various metallic wires or carbon fiber-reinforced high-meltingpoint polyetheretherketone(PEEK)composites.It is found that the MFS,despite its low mass,exceeds the stiffness of the PEEK substrate by 21.5%.The embedded electrics remain functional after the elastic deformation stage.Compared with those of the PEEK substrate,the equivalent thermal conductivity of the MFS beneath the central heat source area is enhanced by 568.0%,and the radiation shielding is improved by 27.9%.Moreover,a satellite prototype with diverse MFSs is rapidly constructed as an illustration.This work provides a systematic approach for high-performance design and advanced manufacturing,which exhibits considerable prospects for both the function expansion and performance enhancement of industrial equipment.

Design and Manufacturing Strategies for Fused Deposition Modelling in Additive Manufacturing:A Review

Although several research works in the literature have focused on studying the capabilities of additive manufacturing(AM) systems, few works have addressed the development of Design for Additive Manufacturing(DfAM) knowledge,tools, rules, and methodologies, which has limited the penetration and impact of AM in industry. In this paper a comprehensive review of design and manufacturing strategies for Fused Deposition Modelling(FDM) is presented.Consequently, several DfAM strategies are proposed and analysed based on existing research works and the operation principles, materials, capabilities and limitations of the FDM process. These strategies have been divided into four main groups: geometry, quality, materials and sustainability. The implementation and practicality of the proposed DfAM is illustrated by three case studies. The new proposed DfAM strategies are intended to assist designers and manufacturers when making decisions to satisfy functional needs, while ensuring manufacturability in FDM systems.Moreover, many of these strategies can be applied or extended to other AM processes besides FDM.

Design for Ti-Al-V-Mo-Nb alloys for laser additive manufacturing based on a cluster model and on their microstructure and properties

In this study,α+βTi-Al-V-Mo-Nb alloys with the addition of multiple elements that are suitable for laser additive manufacturing(LAM)were designed according to a Ti-6Al-4V cluster formula.This formula can be expressed as 12[Al-Ti12](AlTi2)+5[Al-Ti14]((Mo,V,Nb)2Ti),in which Mo and Nb were added into the alloys partially instead of V to give alloys with nominal compositions of Ti-6.01Al-3.13V-1.43Nb,Ti-5.97Al-2.33V-2.93Mo,and Ti-5.97Al-2.33V-2.20Mo-0.71Nb(wt.%).The microstructures and mechanical properties of the as-deposited and heat-treated samples prepared via LAM were examined.The sizes of theβcolumnar grains andαlaths in the Nb-containing samples are found to be larger than those of the Ti-6Al-4V alloy,whereas Mo-or Mo/Nb-added alloys contain finer grains.It indicates that Nb gives rise to coarsenedβcolumnar grains andαlaths,while Mo significantly refines them.Furthermore,the single addition of Nb improves the elongation,whereas the single addition of Mo enhances the strength of the alloys.The simultaneous addition of Mo/Nb significantly improves the comprehensive mechanical properties of the alloys,leading to the best properties with an ultimate tensile strength of 1,070 MPa,a yield strength of 1,004 MPa,an elongation of 9%,and micro-hardness of 355 HV.The fracture modes of all the alloys are ductile-brittle mixed fracture.

Design Consideration for Additive Manufacturing: Fused Deposition Modelling

Additive Manufacturing (AM) technologies have progressed in the past few years and many of them are now capable of producing functional parts instead of mere prototypes. AM provides a multitude of benefits, especially in design freedom. However, it still lacks industrial relevance because of the absence of comprehensive design rules for AM. Although AM is usually advertised as being the solution for all traditional manufacturing design limitations, the fact is that AM only replaces these limitations with a different set of restrictions. To fully exploit the advantages of AM, it is necessary to understand these limitations and consider them early during the design process. The establishment of design considerations in AM enables parts and process optimization. This paper discusses the design considerations that will lead to optimize part quality. Specifically, the work discusses the Fused Deposition Modeling (FDM) due to its common use and availability. These considerations are drawn from literature and from experiments done by the authors. The experiments done by the authors include an investigation for the influence of elevated service temperature on the performance of FDM PLA parts, benchmarking the capability of FDM to print overhangs and bridges without supports, studying the influence of processing parameters over dimensional accuracy, and the effect of processing parameters on the final FDM samples modulus of elasticity. The work presents a case study investigating the correct clearances for FDM parts and finally a redesign for AM case study of a support bracket originally manufactured using traditional manufacturing methods taking into consideration the design considerations discussed in this paper.

Population-Based and Personalized Design of Total Knee Replacement Prosthesis for Additive Manufacturing Based on Chinese Anthropometric Data

At present,most total knee replacement(TKR)prostheses on the market are designed according to the sizes of Caucasians.However,extensive studies have indicated that human anatomies differ among different ethnicities.A number of reports have indicated that Chinese TKR patients do not match with available prostheses.In this study,computed tomography(CT)images of 52 knees of Chinese men and women were used for anthropometric measurements.Index and geometric measurements were definedand used for correlation analysis.Key parameters from the measurement results were identified.Detailed geometries of knees were measured as coordinates.A deformable three-dimensional(3D)knee modelbased on anatomical coordinates correlating with the identified key parameters was generated.A pros-thesis was then designed according to the analyzed results.Surface matching analysis,bone resectionanalysis,and cadaveric trials were conducted and compared with commercial products to validate theproposed design.The femoral component designed by this study resulted in the highest accuracy(rootmean square point-to-surface(RMS PS),(1.08±0.20)mm)and lowest amount of resected bone volume(27412mm^(3))in comparison with two commercial knee prostheses.This study suggests a new approachfor population-based patient-specific femoral prosthesis design With a single,easilty acquired dimen-sion-namely,epicondyle width(ECW)-as input,a patient-specific femoral prosthesis can be designed according to the analyzed measured data and manufactured by additive manufacturing(AM)methods.Meanwhile,the reconstructed femoral condylar surface was compared with the femoral condylar surfacein the original CT scanning data The average RMS PS distance of the reconstructed femoral condylar surface among all data was(1.10±0.18)mm,which is comparable to other statistical shape modeling methods using multiple radiographs as input data.There is a need to develop an anthropometric-based knee prosthesis for the Chinese population.Based on the anthropometry of the Chinese population,our new design fits Chinese patients better and reserves more bone volume compared with current commercial prostheses,which is an essential step toward AM for personalized knee prostheses.

Adaptive enhancement design of triply periodic minimal surface lattice structure based on non-uniform stress distribution

The Schwarz primitive triply periodic minimal surface(P-type TPMS)lattice structures are widely used.However,these lattice structures have weak load-bearing capacity compared with other cellular structures.In this paper,an adaptive enhancement design method based on the non-uniform stress distribution in structures with uniform thickness is proposed to design the P-type TPMS lattice structures with higher mechanical properties.Two types of structures are designed by adjusting the adaptive thickness distribution in the TPMS.One keeps the same relative density,and the other keeps the same of non-enhanced region thickness.Compared with the uniform lattice structure,the elastic modulus for the structure with the same relative density increases by more than 17%,and the yield strength increases by more than 10.2%.Three kinds of TPMS lattice structures are fabricated by laser powder bed fusion(L-PBF)with 316L stainless steel to verify the proposed enhanced design.The manufacture-induced geometric deviation between the as-design and as-printed models is measured by micro X-ray computed tomography(μ-CT)scans.The quasi-static compression experimental results of P-type TPMS lattice structures show that the reinforced structures have stronger elastic moduli,ultimate strengths,and energy absorption capabilities than the homogeneous P-TPMS lattice structure.

Architectural Design and Additive Manufacturing of Mechanical Metamaterials:A Review

Mechanical metamaterials can be defined as a class of architected materials that exhibit unprecedented mechanical properties derived from designed artificial architectures rather than their constituent materials.While macroscale and simple layouts can be realized by conventional top-down manufacturing approaches,many of the sophisticated designs at various length scales remain elusive,due to the lack of adequate manufacturing methods.Recent progress in additive manufacturing(AM)has led to the realization of a myriad of novel metamaterial concepts.AM methods capable of fabricating microscale architectures with high resolution,arbitrary complexity,and high feature fidelity have enabled the rapid development of architected meta materials and drastically reduced the design-computation and experimental-validation cycle.This paper first provides a detailed review of various topologies based on the desired mechanical properties,including stiff,strong,and auxetic(negative Poisson’s ratio)metamaterials,followed by a discussion of the AM technologies capable of fabricating these metamaterials.Finally,we discuss current challenges and recommend future directions for AM and mechanical metamaterials.

A Design Modification Approach to Utilize the Benefits of Metal Additive Manufacturing Adoption

Existing Metal Additive Manufacturing processes are fast approaching a matured stage in which a wide range of possibilities are available for the incorporation of the rapid fabrication technology to current industrial practices. In terms of design conventions, the limitless geometrical freedom allows complex structures including cellular internal grids and lattices to be formed without additional tooling. Repair parts and leveraging components can also be produced on demand when required especially for military assets where large volume of inventory is constantly maintained to ensure operational readiness. In this exemplary work, a feasibility study on using stainless steel material with integrated cellular design to manufacture a guide bracket found on a military vehicle via Selective Laser Melting process was conducted. The results showed appreciably better mechanical performance in using a stainless steel honeycomb as compared to the aluminum alloy used for the original component together with a faster production route through SLM.

Customized scaffolds for large bone defects using 3D‑printed modular blocks from 2D‑medical images

Additive manufacturing(AM)has revolutionized the design and manufacturing of patient-specific,three-dimensional(3D),complex porous structures known as scaffolds for tissue engineering applications.The use of advanced image acquisition techniques,image processing,and computer-aided design methods has enabled the precise design and additive manufacturing of anatomically correct and patient-specific implants and scaffolds.However,these sophisticated techniques can be timeconsuming,labor-intensive,and expensive.Moreover,the necessary imaging and manufacturing equipment may not be readily available when urgent treatment is needed for trauma patients.In this study,a novel design and AM methods are proposed for the development of modular and customizable scaffold blocks that can be adapted to fit the bone defect area of a patient.These modular scaffold blocks can be combined to quickly form any patient-specific scaffold directly from two-dimensional(2D)medical images when the surgeon lacks access to a 3D printer or cannot wait for lengthy 3D imaging,modeling,and 3D printing during surgery.The proposed method begins with developing a bone surface-modeling algorithm that reconstructs a model of the patient’s bone from 2D medical image measurements without the need for expensive 3D medical imaging or segmentation.This algorithm can generate both patient-specific and average bone models.Additionally,a biomimetic continuous path planning method is developed for the additive manufacturing of scaffolds,allowing porous scaffold blocks with the desired biomechanical properties to be manufactured directly from 2D data or images.The algorithms are implemented,and the designed scaffold blocks are 3D printed using an extrusion-based AM process.Guidelines and instructions are also provided to assist surgeons in assembling scaffold blocks for the self-repair of patient-specific large bone defects.

Development Trends in Additive Manufacturing and 3D Printing

Additive manufacturing and 3D printing tech-nology have been developing rapidly in the last 30 years, and indicate great potential for future development. The promising future of this technology makes its impact on traditional industry unpredictable. 3D printing will propel the revolution of fabrication modes forward, and bring in a new era for customized fabrication by realizing the five "any"s: use of almost any material to fabricate any part, in any quantity and any location, for any industrial field. Innovations in material, design, and fabrication processes will be inspired by the merging of 3D-printing technology and processes with traditional manufacturing processes. Finally, 3D printing will become as valuable for manufacturing industries as equivalent and subtractive manufacturing processes.

Effect of processing parameters on formability, microstructure, and micro-hardness of a novel laser additive manufactured Ti-6.38Al-3.87V-2.43Mo alloy

A novel Ti-6.38Al-3.87V-2.43Mo alloy was designed with a cluster formula of 12[Al-Ti12](V0.75Mo0.25Ti2)+4[Al-Ti12](Al3)by replacing Ti with Mo/V on the basis of the Ti-Al congruent alloy.The effects of laser power and scanning speed on the molten pool size,surface roughness,relative density,microstructure,and micro-hardness of single-track and bulk Ti-6.38Al-3.87V-2.43Mo samples prepared via laser additive manufacturing(LAM)were investigated.The results show that processing parameters significantly affect the formability,microstructure,and micro-hardness of the alloy.With decreasing laser power from 1,900 W to 1,000 W,the relative density is decreased from 99.86%to 90.91%due to the increase of lack-of-fusion;however,with increasing scanning speed,the relative density does not change significantly,but exceeds 99%.In particular,Ti-6.38Al-3.87V-2.43Mo samples of single-track and bulk exhibit a good formability under an input laser power of 1,900 W and a scanning speed of 8 mm·s_(-1),and display the lowest surface roughness(Ra=13.33μm)and the highest relative density(99.86%).Besides,the microstructure of LAM Ti-6.38Al-3.87V-2.43Mo alloy coarsens with increasing laser power or decreasing scanning speed due to the greater input energy reducing the cooling rate.The coarsening of the microstructure decreases the microhardness of the alloy.