Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization

Journal article

Authors/Editors

TEERANOOT CHANTHASOPEEPHAN

Strategic Research Themes

Automation (Innovative Materials, Manufacturing and Construction)

Publication Details

Author list: Chi, I-Ting; Chanthasopeephan, Teeranoot; Wang, Dung-An;

Publisher: American Society of Mechanical Engineers

Publication year: 2022

Volume number: 14

Issue number: 2

ISSN: 1942-4302

eISSN: 1942-4310

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85127437154&doi=10.1115%2f1.4052335&partnerID=40&md5=40cb5c15c5ab323d52b1303dd92253ea

Languages: English-Great Britain (EN-GB)

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Abstract

A compliant gripper with nearly parallel gripping motion is developed by a topology synthesis and a dimensional synthesis approach. The topology synthesis process can generate linkage-type compliant mechanisms. Suitable boundary conditions of the topology synthesis process are selected to achieve the desired functions of the device. The dimensional synthesis is based on an evolutionary optimal design process. To meet various design goals, a nondominated multi-objective genetic algorithm is selected for the optimal design process. A kinetostaic model based on the chained beam constraint model is developed for force–displacement analysis of the designs. Efficiency and accuracy of the design approach are proved by experiments. Appropriate linkage types of compliant mechanisms may be discovered by the topology optimization process before moving on to the dimensional synthesis to obtain final designs. Copyright © 2021 by ASME.

Keywords

Compliant mechanisms, Grasping and fixturing, Mechanism synthesis