Ching-Wei LoYuan ChangMien-Li WangJYH-JONE LEE2024-07-032024-07-032024-0616785878https://www.scopus.com/record/display.uri?eid=2-s2.0-85193634163&origin=resultslisthttps://scholars.lib.ntu.edu.tw/handle/123456789/719591A 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.falseCompliant mechanismConstant forceObjective domain enumerationSweep line algorithmTopology optimization[SDGs]SDG3[SDGs]SDG7[SDGs]SDG9journal article10.1007/s40430-024-04929-42-s2.0-85193634163