Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic manufacture of devices containing rigid and elastic sections. We propose a novel design technique that leverages both technologies and can automatically design bespoke soft robotic grippers for fruit-picking and similar applications. We demonstrate the novel topology optimisation formulation that generates multi-material soft grippers, can solve internal and external pressure boundaries, and investigate methods to produce air-tight designs. Compared to existing methods, it vastly expands the searchable design space while increasing simulation accuracy.

翻译：近年来,软体机器人掌握在学术机器人界迅速扩散,并被推向工业应用。与此同时,多材料的三维打印已经普及,使含有硬体和弹性部分的装置的单体制造得以实现。我们提出了一种新型设计技术,利用两种技术,并且可以自动设计出简单的软体机器人控制器,用于水果采摘和类似的应用。我们展示了产生多材料软控制器、能够解决内部和外部压力界限并调查产生空气智能设计的方法的新型地形优化配方。与现有方法相比,它极大地扩展了可搜索的设计空间,同时提高了模拟的准确性。</s>