Topology and Size-Shape Optimization of an Adaptive Compliant Gripper with High Mechanical Advantage for Grasping Irregular Objects

Chih-Hsing Liu, Chen Hua Chiu, Mao Cheng Hsu, Yang Chen, Yen Pin Chiang

Research output: Contribution to journalArticlepeer-review

15 Citations (Scopus)

Abstract

This study presents an optimal design procedure including topology optimization and size-shape optimization methods to maximize mechanical advantage (which is defined as the ratio of output force to input force) of the synthesized compliant mechanism. The formulation of the topology optimization method to design compliant mechanisms with multiple output ports is presented. The topology-optimized result is used as the initial design domain for subsequent size-shape optimization process. The proposed optimal design procedure is used to synthesize an adaptive compliant gripper with high mechanical advantage. The proposed gripper is a monolithic two-finger design and is prototyped using silicon rubber. Experimental studies including mechanical advantage test, object grasping test, and payload test are carried out to evaluate the design. The results show that the proposed adaptive complaint gripper assembly can effectively grasp irregular objects up to 2.7 kg.

Original languageEnglish
Pages (from-to)1383-1400
Number of pages18
JournalRobotica
Volume37
Issue number8
DOIs
Publication statusPublished - 2019 Aug 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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