05 Nov

Computational Design of Foldable Robots, High-Level Flow Chart

Chang Liu origami robots

Flow Chart

Entire project (Please note: this flow chart is constantly being updated)

Current project (Please note: this flow chart is constantly being updated)

Sub-project (Please note: this flow chart is constantly being updated)

Sub-project detailed research plan (Please note: this flow chart is constantly being updated)

Goals/contributions for this project

  1. Instantly solutions to plate problems (existing researches and approaches are complicated and time-consuming)

  2. Arbitrary geometries (existing researches focus on rectangles or rhombus shapes since they are easy to solve)

  3. Arbritary boundary conditions / BC combinations (existing researches focus on single boundary conditions, and getting solutions is already complicated and time-consuming)

  4. Arbritaty loading conditions, e.g. distribured load, concentrated load, a force along a line, a force in a ring shape (existing researches focus on distributed loading, since it is easy to be used along complicated analytical approach)

Schedule (constantly being updated based on process)

Week 1 (11/16/2020):

// Understanding basic theories //

  • 4th order plate theory
  • boundary conditions (simply-supported, free, clamped), understanding how to mathematically express them (how to linearize the expressions)
  • different meshing (rectangle meshing v.s. triangle meshing)
Week 2 (11/23/2020):

// implementing computational toolbox //

implementing meshing (most likely triangle meshing, since rectangle meashing works only with all edges simply-supported cases)

  • draw triangle meshing in code
  • assign node numbers
  • assign units with surrounding nodes
  • determine boundary nodes
Week 3 (11/30/2020):

// implementing computational toolbox //

linearing each unit

  • write down equations for nodes under different situations (in the middle v.s. on edges)
  • implement boundary conditions on nodes that are located on edges
  • implement all above in code
Week 4 (12/7/2020):

// implementing computational toolbox //

implementing torque, reaction load, etc

  • implement torque and reaction load on surface
  • calculate torque and reaction on edges
Week 5 (12/14/2020):

// implementing computational toolbox //

vartification and debugging

  • install / learn FEA software (presumably ABAQUS)
  • implement the above in FEA
Week 6 (12/21/2020):

// implementing computational toolbox //

vartification and debugging

  • implement the above in FEA (presumably ABAQUS)
  • compare results from FEA with ours
  • debug if there are issues
Week 7 (12/28/2020):

// implementing computational toolbox //

debugging and cleanup code

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