This study presents a topology optimization method to synthesize an innovative compliant finger for grasping objects with size and shape variations. The design domain of the compliant finger is a trapezoidal area with one input and two output ports. The topology optimized finger design is prototyped by three-dimensional (3D) printing using flexible filament, and be used in the developed gripper module, which consists of one actuator and two identical compliant fingers. Both fingers are actuated by one displacement input, and can grip objects through elastic deformation. The gripper module is mounted on an industrial robot to pick and place a variety of objects to demonstrate the effectiveness of the proposed design. The results show that the developed compliant finger can be used to handle vulnerable objects without causing damage to the surface of grasped items. The proposed compliant finger is a monolithic and low-cost design, which can be used to resolve the challenge issue for robotic automation of irregular and vulnerable objects.
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August 2018
Technical Briefs
Topology Optimization and Prototype of a Three-Dimensional Printed Compliant Finger for Grasping Vulnerable Objects With Size and Shape Variations
Chih-Hsing Liu,
Chih-Hsing Liu
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: chliu@mail.ncku.edu.tw
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: chliu@mail.ncku.edu.tw
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Chen-Hua Chiu,
Chen-Hua Chiu
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: zas988777@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: zas988777@gmail.com
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Ta-Lun Chen,
Ta-Lun Chen
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: luciferluxn@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: luciferluxn@gmail.com
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Tzu-Yang Pai,
Tzu-Yang Pai
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: a19936161@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: a19936161@gmail.com
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Mao-Cheng Hsu,
Mao-Cheng Hsu
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: qwe.566@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: qwe.566@gmail.com
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Yang Chen
Yang Chen
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: balrog705@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: balrog705@gmail.com
Search for other works by this author on:
Chih-Hsing Liu
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: chliu@mail.ncku.edu.tw
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: chliu@mail.ncku.edu.tw
Chen-Hua Chiu
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: zas988777@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: zas988777@gmail.com
Ta-Lun Chen
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: luciferluxn@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: luciferluxn@gmail.com
Tzu-Yang Pai
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: a19936161@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: a19936161@gmail.com
Mao-Cheng Hsu
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: qwe.566@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: qwe.566@gmail.com
Yang Chen
Department of Mechanical Engineering,
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: balrog705@gmail.com
National Cheng Kung University,
Tainan 701, Taiwan
e-mail: balrog705@gmail.com
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 29, 2017; final manuscript received April 1, 2018; published online May 31, 2018. Assoc. Editor: Hai-Jun Su.
J. Mechanisms Robotics. Aug 2018, 10(4): 044502 (9 pages)
Published Online: May 31, 2018
Article history
Received:
July 29, 2017
Revised:
April 1, 2018
Citation
Liu, C., Chiu, C., Chen, T., Pai, T., Hsu, M., and Chen, Y. (May 31, 2018). "Topology Optimization and Prototype of a Three-Dimensional Printed Compliant Finger for Grasping Vulnerable Objects With Size and Shape Variations." ASME. J. Mechanisms Robotics. August 2018; 10(4): 044502. https://doi.org/10.1115/1.4039972
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