Rigid-flex robotics are a novel structural architecture poised to enable NASA’s science and exploration goals on the moon and other terrestrial bodies. Rigid-flex robots have a small form factor, low mass, and can be stored compactly, making them ideal for deployment in a fleet scenario to explore high-risk regions, such as lunar pits. Previous research using test-validated finite element models suggests that structural reinforcement is required for these robots to survive an 80-m drop into a lunar pit. Regions of primary concern are large, exposed PCB panels carrying the majority of the electronic components, which may fail due to fracture of the PCB or exceeding curvature limits for mounted electronic components and solder joints. This research presents a framework for efficient dynamic topology optimization utilizing the commercial software Abaqus, which leverages the updating of a series of equivalent static loads for each round of optimization based on the deformation response factor (Rd). An analytical study is carried out at the single PCB panel level utilizing a test-validated finite element model of a dynamically loaded PCB panel with a mass representative of a scientific instrument subjected to a sinusoidal load. Within the study, the influence of optimization parameter settings, mass constraints, and the initial ratio of the excitation frequency to the fundamental system frequency are discussed. Finally, attention is given to the influence of the modal mass participation factor for mode 1 on the applicability of the method. Future work will include expanding this framework into a methodology for efficient topology optimization under a random vibration excitation signal.