Design of compliant mechanisms using continuum topology optimization: A review

A Comprehensive Survey on Microgrippers Design: Mechanical Structure

Substructure compliance matrix model of planar branched flexure-hinge mechanisms: Design, testing and characterization of a gripper

In this research work, the compliant based microgripper is developed and the performance of the microgripper is studied through numerical simulation and experiential techniques Conceptual design of microgripper is developed through topology optimization which is logical, authenticate and effortless among other mechanism design methods such as Mechanism synthesis, Pseudo Rigid Body Model (PRBM) and inverse method In conceptual design of microgripper, node to node connections were developed and show the hinge locations of the mechanism These locations were replaced by introducing suitable flexure hinges The effect of flexure hinges at the node-to-node contact regions need to be analyzed for its critical geometric parameter The important critical geometric parameter of flexure hinges are varied and analyzed through Finite Element Method (FEM) and experimental studies In experimental technique, Shape Memory Alloy (SMA) wire is employed to actuate the microgripper Equivalent rigid body model of the mechanism using Graphical Position Analysis (GPA) to the compliant mechanism is developed for comparing the output displacement

Numerical simulation and experimental investigation of a topologically optimized compliant microgripper

This paper presents the problem formulation and design of compliant grip-and-move manipulators. Each manipulator is composed of two identical path generating compliant mechanisms such that it can grip an object and convey it from one point to another. The integration of both gripping and moving behaviors within a simple mechanism is accomplished by the use of compliant mechanisms, which generate paths that are symmetric. The automated synthesis of these symmetric path generating mechanisms is by a structural topology optimization approach. The problem of topology optimization of continuum structures is solved using a multiobjective genetic algorithm coupled with a morphological representation of geometry that efficiently defines the variable structural geometry upon a finite element grid. A graph-theoretic chromosome encoding together with compatible crossover and mutation operators are then applied to form an effective evolutionary optimization procedure. Two designs have been created and are presented in this paper, and some concluding remarks and future work are put forward.

Design of Grip-and-Move Manipulators Using Symmetric Path Generating Compliant Mechanisms

The formation of hinge-like portions typically is encountered in the structural topological synthesis. This paper proposes an optimum synthesis integrated with the analytic single-axis flexure hinge as a second-stage design process to obtain optimum flexure configuration and location for promoting the overall performance of a compliant microgripper after the topology optimization. The locations of hinge-like in topology synthesis are verified to be the exact locations of flexures. A simplifying optimization applying ANSYS is consequently done in the second-stage optimum design. The proposed process can be extended to other types of compliant structural design.

https://iopscience.iop.org/article/10.1088/1742-6596/34/1/139/pdf

C F Lin

Papers

A two-stage topological optimum design for monolithic compliant microgripper integrated with flexure hinges