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Topology Synthesis and Optimal Design of an Adaptive Compliant Gripper to Maximize Output Displacement

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Abstract

This paper presents the optimal design process of an innovative adaptive compliant gripper (ACG) for fast handling of objects with size and shape variations. An efficient soft-add topology optimization algorithm is developed to synthesize the optimal topology of the ACG. Unlike traditional hard-kill and soft-kill methods, the elements are equivalent to be numerically added into the analysis domain through the proposed soft-add scheme. A size optimization method incorporating Augmented Lagrange Multiplier (ALM) method, Simplex method, and nonlinear finite element analysis with the objective to maximize geometric advantage (which is defined as the ratio of output displacement to input displacement) of the analyzed compliant mechanism is carried out to optimize the design. The dynamic performance and contact behavior of the ACG is analyzed by using explicit dynamic finite element analysis. Three designs are prototyped using silicon rubber material. Experimental tests are performed, and the results agree well with the simulation models. The outcomes of this study provide numerical methods for design and analysis of compliant mechanisms with better computational efficiency, as well as to develop an innovative adaptive compliant gripper for fast grasping of unknown objects.

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Acknowledgements

This study was supported by the grants: MOST 103-2218-E-006-012, and MOST 105-2221-E-006-082 from the Ministry of Science and Technology of Taiwan.

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Authors and Affiliations

  1. Department of Mechanical Engineering, National Cheng Kung University, Tainan, 701, Taiwan

    Chih-Hsing Liu, Guo-Feng Huang, Chen-Hua Chiu & Tzu-Yang Pai

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  1. Chih-Hsing Liu
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  2. Guo-Feng Huang
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Correspondence to Chih-Hsing Liu.

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Liu, CH., Huang, GF., Chiu, CH. et al. Topology Synthesis and Optimal Design of an Adaptive Compliant Gripper to Maximize Output Displacement. J Intell Robot Syst 90, 287–304 (2018). https://doi.org/10.1007/s10846-017-0671-x

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  • DOI: https://doi.org/10.1007/s10846-017-0671-x

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