Rational design method for articulated structures

This paper deals with an introduction to a new approach in order to find the optimal design of actuated smart structures. The proposed approach aims to determine the optimal structure and trajectories, requiring the minimum number of actuators and minimizing energy to reach target surface topologies. The proposed methodology is intended to be as general as possible, although specific tools are developed and introduced to address the different stages of the design process. In this study, the investigated electromechanical structure is a 2D articulated cross-truss structure composed of articulated joints and a subset of deformable segments.