I decided to design an underrun with a curved shape for the following reasons:
More volume and surface area of the contact bar can be made in the width.
The arch shape adds strength to the overall frame by directing stresses down the main arms.
There is a chance that the energy of the incoming vehicle will be deflected by the curve shape instead of fully absorbing the impact.
The weight is approximately 70kg. Light without compromising the overall strength.
Thank you to SimScale for providing such a fantastic service, I really enjoyed doing the stress analysis simply in the browser.