Numerical Optimization of Underactuated Flexure-Based Grippers

Boi Okken*, Jan P. Dekker, Jan de Jong, Dannis Michel Brouwer

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

1 Citation (Scopus)
21 Downloads (Pure)

Abstract

Robotic manipulation in the agri-food industry faces several issues, including object variation, fragility and food safety. Underactuated flexure-based gripper allow passive adaptation to object variation, whilst monolithic flexure joints drive down cost, part-count, hygiene requirements, contamination and wear. However, designing flexure-based grippers presents challenges in achieving sufficient support stiffness, load-bearing capacity and joint deflection. Additionally, modeling the non-linear flexure behavior may become computationally expensive, especially under wide a variety of load cases, limiting the optimization approaches to simple structures and joints. In this work we present an interleaved computational optimization algorithm for underactuated flexure-based grippers, aimed at maximizing the range of graspable circular objects under a given load. This method achieves a superior design faster than state-of-the-art methods that optimize all design parameters simultaneously. A prototype constructed using rapid-prototyping validates the usage of the design method, and experimentally illustrates gripper performance.
Original languageEnglish
Number of pages9
DOIs
Publication statusPublished - 23 Aug 2023
EventASME 2023 International Design Engineering Technical Conference and Computers and Information in Engineering Conference, IDETC/CIE 2023 - Boston Park Plaza, Boston, United States
Duration: 20 Aug 202323 Aug 2023

Conference

ConferenceASME 2023 International Design Engineering Technical Conference and Computers and Information in Engineering Conference, IDETC/CIE 2023
Abbreviated titleIDETC/CIE 2023
Country/TerritoryUnited States
CityBoston
Period20/08/2323/08/23

Keywords

  • Grasping
  • Gripping
  • Compliant Mechanism
  • Flexures
  • Optimization
  • Flexure-hinges
  • Under-actuation

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