Multi-path planning for hydraulic fluid routing

Abstract

In this thesis, I designed, implemented, and optimized an algorithm to solve the circuit-routing problem, optimizing the solution for exact correctness in a low aspect ratio scenario, as opposed to approximate correctness in high aspect ratio scenarios, where topological approaches are typically applied. I applied this algorithm to 3D printed hydraulically actuated robots, though it has additional applications in circuit routing for PCB assembly, FPGA interconnect optimization, fiber optic routing, and other routing applications. The performance of the algorithm is discussed, profiled, and tuned from an algorithmic perspective, with further improvements suggested. The effect of starting conditions on the performance of the algorithm is discussed theoretically and analyzed in real-world performance. Overall, the algorithm is shown to provide exactly correct results and perform adequately over a range of starting conditions useful for 3D printed hydraulic fluid pipes.