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Structural and Multidisciplinary Optimization

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11.06.2020 | Industrial Application Paper

Topology optimization of a cable-driven soft robotic gripper

verfasst von: Rixin Wang, Xianmin Zhang, Benliang Zhu, Hongchuan Zhang, Bicheng Chen, Haonan Wang

Erschienen in: Structural and Multidisciplinary Optimization | Ausgabe 5/2020

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Abstract

Improving the functionality of soft continuum manipulators to expand their application space has always been an important development direction for soft robotics. It remains very challenging to calculate the deformations of soft materials and predict the basic structure of soft fingers under complex objective functions and constraints. This work develops a cable-driven soft robotic gripper with multi-input and multi-output using topology optimization considering geometric nonlinearity, which not only performs adaptive grasping but also enables finer manipulations such as rotating or panning the target. A scheme that can describe adaptive grasping behavior is proposed, which converts the contact between the clamping surface and the object into a boundary condition to circumvent complex contact nonlinearities. An additive hyperelasticity technique is used to overcome numerical instabilities, and the finite element analysis is performed in ANSYS. Numerical simulations and experimental results are performed to demonstrate the effectiveness of the optimization algorithm and to illustrate the application potential of the proposed gripper.

Vorheriger Artikel A topology optimization implementation for depth-of-focus extension of binary phase filters

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Titel: Topology optimization of a cable-driven soft robotic gripper
verfasst von: Rixin Wang
Xianmin Zhang
Benliang Zhu
Hongchuan Zhang
Bicheng Chen
Haonan Wang
Publikationsdatum: 11.06.2020
Verlag: Springer Berlin Heidelberg
Erschienen in: Structural and Multidisciplinary Optimization / Ausgabe 5/2020
Print ISSN: 1615-147X
Elektronische ISSN: 1615-1488
DOI: https://doi.org/10.1007/s00158-020-02619-y

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