期刊
ROBOTICA
卷 37, 期 8, 页码 1383-1400出版社
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574719000018
关键词
Topology optimization; Size-shape optimization; Mechanical advantage; Compliant mechanism; Compliant gripper
类别
资金
- Ministry of Science and Technology of Taiwan [MOST 105-2221-E-006-082]
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.
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