Blurring the boundaries between actuator and structure: investigating use of stereolithography to build adaptive robots

The aim of this work is to investigate whether stereolithographic models, combined with shape memory alloys, can be used to create robotic structures that act both as support structure and actuator. In order to test this, a structural topology was evolved and subsequently, through a deterministic process, optimised to withstand predetermined forces similar to those possibly encountered in a robot. The results show that by using this two-stage process, structures can be designed and built that satisfy these requirements.