Design of a large stroke compliant gripping mechanism for constant-force applications
Journal
Journal of the Brazilian Society of Mechanical Sciences and Engineering
Journal Volume
46
Journal Issue
6
ISSN
1678-5878
1806-3691
Date Issued
2024-06
Author(s)
DOI
10.1007/s40430-024-04929-4
Abstract
A constant force compliant mechanism (CFCM) prevents a mechanical gripper from exerting excessive contact force through passive force control. In response to changes in mechanical stiffness induced by structural deformation, it can generate nearly constant extrinsic loads throughout the effective range of input displacement. This research aims to design an embedded CFCM end effector for manipulators capable of grasping geometrically and mechanically unknown objects without the need of sensory equipment. The proposed topology optimization method synthesizes CFCMs through discrete parameterization, loop detection, deformation analysis, objective domain enumeration, and function error evaluation, utilizing a genetic algorithm. The algorithm minimizes errors and improves solution accuracy by deducing solution feasibility through several penalty functions. Finite element analysis verifies the performance, deformation, and stress conditions of the optimal CFCM. The study includes manufacturing a CFCM prototype and assembling for end-effector, followed by experiments to validate analytical results and assessing actual grasping ability. The proposed design provides an extended range of motion and improved force stability, laying a groundwork for future research in this area.
Subjects
Compliant mechanism
Constant force
Objective domain enumeration
Sweep line algorithm
Topology optimization
Publisher
Springer Science and Business Media LLC
Type
journal article