Abstract
Recently, CFRP is used for the robotic structures to improve the mobility because of its high specific strength and stiffness. Since the mechanical properties of CFRP structures strongly depend on stacking sequences, stacking-sequence optimizations are indispensable. Fractal branch-and-bound method has been developed by the authors for the optimization of stacking sequences of symmetric and balanced composite laminates that has two in-plane and two out-of-plane lamination parameters. In the present study, a stacking sequence optimization of CFRP leg structure of walking robot or an unsymmetrical composite laminate is examined. Using a tetradecahedron fractal pattern of a coupling lamination parameter coordinates, fractal branch-and-bound method is applied to optimize the stacking sequence of unsymmetrical laminates. The method is applied to a stacking sequence optimization problem of a maximization of buckling load of leg structure of walking robot. As a result, the method is successfully applied, and the practical optimal stacking sequence is obtained.
