A Constraint-Driven Generative Design Methodology for Modular Actuated Robotic Components in Decentralized Manufacturing

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This is an unedited manuscript accepted for publication and provided as an Article in Press for early access at the author’s request. The article will undergo copyediting, typesetting, and galley proof review before final publication. Please be aware that errors may be identified during production that could affect the content. All legal disclaimers of the journal apply.

Year : 2026 | Volume : 4 | 01 | Page :
    By

    Pedro Portugal,

  1. Independent Researcher, Formerly: School of Engineering and Sciences, Tecnológico de Monterrey, Nuevo León, Mexico

Abstract

This work formalizes a constraint-driven generative design framework for actuator-integrated robotic components intended for decentralized additive manufacturing. Conventional topology optimization typically prioritizes structural efficiency while treating actuator integration, modular interfaces, and fabrication constraints as secondary considerations. In contrast, the proposed methodology encodes these requirements as first-order geometric and mechanical constraints prior to automated material redistribution. The framework defines preserved actuator geometry, bounded design envelopes, representative loading abstractions, and manufacturability-aware domains to guide structural synthesis within physically admissible regions. A mathematical formulation expresses the design task as a constrained mass minimization problem subject to equilibrium, stress, geometric preservation, and manufacturability conditions. By embedding engineering intent directly into the generative problem definition, the methodology ensures that synthesized geometries remain mechanically plausible, assembly-compatible, and fabrication-ready without post hoc correction. This constraint-driven approach reduces design iteration overhead, improves reproducibility, and aligns generative outputs with the realities of consumer-grade additive manufacturing. Although motivated by actuator-integrated robotic links, the framework is architecture-agnostic and generalizable to a broad class of modular robotic components fabricated under distributed and resource-limited production environments. The approach provides a reproducible foundation for engineering-aware generative synthesis in decentralized robotic hardware development and supports scalable, accessible mechanical innovation across diverse applications and contexts globally.

Keywords: Modular robotics; actuated robotic components; constraint-driven design; generative de-sign tools; decentralized manufacturing; additive manufacturing.

How to cite this article:
Pedro Portugal. A Constraint-Driven Generative Design Methodology for Modular Actuated Robotic Components in Decentralized Manufacturing. International Journal of Robotics and Automation in Mechanics. 2026; 04(01):-.
How to cite this URL:
Pedro Portugal. A Constraint-Driven Generative Design Methodology for Modular Actuated Robotic Components in Decentralized Manufacturing. International Journal of Robotics and Automation in Mechanics. 2026; 04(01):-. Available from: https://journals.stmjournals.com/ijram/article=2026/view=246273


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Ahead of Print Subscription Review Article
Volume 04
01
Received 10/02/2026
Accepted 27/02/2026
Published 14/03/2026
Publication Time 32 Days
8

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