Topology Optimization of a 6-DOF Arm-Z Modular Robotic Manipulator

This contribution considers the problem of topology optimization of modular structures.A bionic trunk-like robotic "Arm-Z" manipulator is considered.The manipulator is modular, that is, it is composed of a sequence of identical modules.In geometric terms, each module is essentially an obliquely cut section of an elliptical pipe, so in the cutting plane it forms a circle.With respect to the previous module, it has a single degree of freedom: the relative twist.Therefore, the total number of the degrees of freedom of the entire manipulator equals the number of its modules.Such a manipulator belongs to the family of Extremely Modular Systems.The advantages of such systems are the economization (due to the possible mass production of modules) and robustness (replacement of a failed module instead of a complex repair).