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

Liu, Chih‐Hsing; Chiu, Chen; Hsu, Mao Cheng; Chen, Yang; Chiang, Yen Pin

doi:10.1017/s0263574719000018

Cited by 39 publications

(29 citation statements)

References 51 publications

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“…In conclusion, the results show that unlike some existing grippers, e.g. [25], the presented novel soft robotic compliant two-finger gripper realizes:…”

Section: Summarized Gripper Characteristicsmentioning

confidence: 72%

“…More recently, optimally designed monolithic two-finger grippers made of hyperelastic elastomer material are developed with respect to an improved motion [88] or force transmission [25]. However, the presented approaches are not able to design gripper structures with a good trade-off between a high motion and force transmission.…”

Section: Related Workmentioning

confidence: 99%

“…Generally, compliant mechanisms are monolithic structures and thus, easy to produce, assembling-free, maintenance-free, friction-less as well as lightweight. Although the use of compliant mechanisms for gripping is common in the fields of high-precision micromanipulation [23] and MEMS [24] for many years, only a few prototypes for passively self-adaptive soft grippers are suggested that utilize compliant JMR-20-1104 Milojević 4 mechanisms with distributed compliance [25,26]. The combination of highly-elastic materials with functional materials additionally allows the realization of multi-functional compliant systems with inherent sensor and actuator properties, which can be used for mechanically smart gripping, too [27].…”

Section: Introductionmentioning

confidence: 99%

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A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Milojević

Linß

Ćojbašić

et al. 2020

Journal of Mechanisms and Robotics

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In soft robotics there is still a great need for a universal but simple gripper that realizes a high level of adaptability as well as a gentle touch to a wide variety of unknown objects of different size, shape, stiffness and weight without the use of sensors or vision. Various, mostly complex grippers already exist based on certain actuation concepts. However, each solution has specific limitations, especially regarding gripping different soft and delicate objects. Therefore, this paper introduces a new approach to design a simple, adaptive and versatile soft robotic two-finger gripper that is based on compliant mechanisms. More specifically, an inherently gentle touch is realized by utilizing an optimally synthesized mechanism with distributed compliance in combination with a conventional linear actuator. It is shown by FEM simulations that the gripper realizes a high force and motion transmission at the same time. Furthermore, it is demonstrated by tests with a gripper prototype that reliable, safe, and fast grasping as well as manipulation are possible for a wide variety of objects. It is shown that beside regular and stiff objects also very challenging objects can be easily gripped, e.g. small, irregular, soft, and squeezable objects like fruits, berries and vegetables. Moreover, it is confirmed that the developed compliant two-finger gripper can be used beneficially without sensors and control for differently sized and shaped objects with a comparable weight.

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“…In conclusion, the results show that unlike some existing grippers, e.g. [25], the presented novel soft robotic compliant two-finger gripper realizes:…”

Section: Summarized Gripper Characteristicsmentioning

confidence: 72%

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Milojević

Linß

Ćojbašić

et al. 2020

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

show abstract

“…29 The algorithms of topology optimization methods are extensively investigated in the literature over the past several decades [29][30][31][32][33] and have been used in developing various soft robotic grippers. [8][9][10][11]14,16,17,20,[34][35][36][37] For example, Wang et al 10 developed a cable-driven two-finger soft gripper with multiple input ports; a topology optimization method is used to synthesize the compliant finger considering multiple working conditions. A three-finger cable-driven soft robotic gripper presented by Chen et al 35 is prototyped with a 3Dprinted TPE and can be used to grip objects up to 1 kg.…”

Section: Introductionmentioning

confidence: 99%

Topology Optimization and Prototype of a Multimaterial-Like Compliant Finger by Varying the Infill Density in 3D Printing

Liu

Yang

2022

Soft Robotics

Self Cite

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This study presents a multimaterial topology optimization method for design of multimaterial compliant mechanisms. Traditionally, the objective function in topology optimization for design of structures is to minimize the strain energy (SE). For synthesis of compliant mechanisms, the objective function is usually to maximize the mutual potential energy (MPE). To design an adaptive compliant gripper for grasping size-varied objects, a multicriteria objective function considering both the SE and MPE at two different output ports is proposed in this study. In addition, based on the fact that different infill densities in three-dimensional (3D) printing leads to prototypes with different equivalent mechanical properties, this article proposes that a multimaterial design can be approximated by varying the values of infill densities in different portions of a 3D-printed component, which enables the multimaterial designs to be prototyped using the general low-cost, single-material fused deposition modeling 3D printing machines. The proposed method is used to design and prototype a bi-material compliant finger which is 3D printed using a flexible thermoplastic elastomer with infill densities of 30% and 100%. The experimental results demonstrate that the bi-material finger is a better design in terms of reducing the driving force while increasing the output displacement at the fingertip comparing to the single-material finger design with the same volume and weight. Furthermore, a two-finger gripper with two identical multimaterial-like compliant fingers is prototyped and installed on a six-axis industrial robot. The experimental tests are performed to demonstrate the effectiveness of the presented design.

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“…In the following, it is exa In the context of the multi-objective design optimization of gripping systems, various approaches can be found in literature. In [14], a combination of the augmented Lagrange multiplier and the simplex method is applied for optimizing the topology and size-shape of an adaptive compliant gripper. Grasp configuration planning for an underactuated three-fingered robot hand is realized via artificial neural networks in [15].…”

Section: Introductionmentioning

confidence: 99%

Grasp Point Optimization and Leakage-Compliant Dimensioning of Energy-Efficient Vacuum-Based Gripping Systems

et al. 2021

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Vacuum-based handling, used in many applications and industries, offers great flexibility and fast handling processes. However, due to significant energy conversion losses from electrical energy to the useable suction flow, vacuum-based handling is highly energy-inefficient. In preliminary work, we showed that our grasp optimization method offers the potential to save at least 50% of energy by a targeted placement of individual suction cups on the part to be handled. By considering the leakage between gripper and object, this paper aims to extend the grasp optimization method by predicting the effective compressed air consumption depending on object surface roughness, gripper diameter and gripper count. Through balancing of the target pressure difference and the leakage tolerance in combination with the gripper count and gripper diameter, significant reductions of the compressed air, use and therefore the overall energy consumption, can be achieved. With knowledge about the gripper-specific leakage behavior, in the future it will be straightforward for system integrators to minimize the need for oversizing due to process-related uncertainties and therefore to provide application-specific and energy-optimized handling solutions to their customers.

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

Cited by 39 publications

References 51 publications

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Topology Optimization and Prototype of a Multimaterial-Like Compliant Finger by Varying the Infill Density in 3D Printing

Grasp Point Optimization and Leakage-Compliant Dimensioning of Energy-Efficient Vacuum-Based Gripping Systems

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