Topology and size optimization of an adaptive compliant gripper to maximize the geometric advantage

This study presents a systematic optimal design procedure to develop an adaptive compliant gripper (ACG) for grasping objects with various sizes and shapes. A soft-add topology optimization algorithm is developed to synthesize the optimal layout of the ACG. One special characteristic of the proposed soft-add scheme is that the elements are equivalent to be numerically added into the analysis domain. A size optimization procedure by using a mixed method combing Augmented Lagrange Multiplier (ALM) method and Simplex method is also proposed to maximize the geometric advantage (GA, which is defined as output displacement divided by input displacement) of the ACG. After the optimal design is obtained, the explicit dynamic Unite element analysis and experimental tests are carried out to analyze the design. The results show the developed ACG is with good adaptability and highest GA. The average GA can improve 58% comparing to the previous design.