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Research Papers

Design of 2-DOF Compliant Mechanisms to Form Grip-and-Move Manipulators for 2D Workspace

[+] Author and Article Information
N. F. Wang

School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singaporenfwang@ntu.edu.sg

K. Tai

School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singaporemktai@ntu.edu.sg

J. Mech. Des 132(3), 031007 (Mar 22, 2010) (9 pages) doi:10.1115/1.4001213 History: Received July 16, 2009; Revised January 31, 2010; Published March 22, 2010; Online March 22, 2010

This paper demonstrates the design of compliant grip-and-move manipulators by structural optimization using genetic algorithms. The manipulator is composed of two compliant mechanisms (each with two degrees of freedom) that work like two fingers so that the manipulator can grip an object and convey it from one point to another anywhere within a two-dimensional workspace. The synthesis of such compliant mechanisms is accomplished by formulating the problem as a structural topology and shape optimization problem with multiple objectives and constraints to achieve the desired behavior of the manipulator. A multiobjective genetic algorithm is then applied coupled with an enhanced morphological representation for defining and encoding the structural geometry variables. The solution framework is integrated with a nonlinear finite element code for large-displacement analyses of the compliant structures to compute the paths generated by these mechanisms, with the resulting optimal designs used to realize various manipulator configurations.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

Sketch of a grip-and-move manipulator with 2D workspace

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Figure 2

Output area calculation

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Figure 3

Definition of structural geometry by enhanced morphological representation: (a) FE discretization of design space, (b) connecting I/O elements with Bezier curves, (c) skeleton made up of elements along active curves, and (d) flesh elements added to skeleton to form final structure

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Figure 5

Illustration of crossover operation

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Figure 6

Design space for 2-DOF mechanism

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Figure 7

Three nondominated solutions at 500th generation (1)

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Figure 8

I/O points and Bezier curves of Fig. 7

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Figure 9

Grip-and-move manipulator 1: (a) undeformed shape, deformed shapes, and output paths of mechanism; (b) arrangement of mechanisms to maximize overlapping output area; and (c) arrangement of mechanisms to lengthen overlapping output area

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Figure 10

Three nondominated solutions at 500th generation (2)

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Figure 11

I/O points and Bezier curves of Fig. 1

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Figure 12

Grip-and-move manipulator 2: (a) undeformed shape, deformed shapes, and output paths of mechanism; (b) arrangement of mechanisms with overlapping output area; and (c) prototype of manipulator

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Figure 13

Actuation of manipulator 2: (a) gripping position 1; (b) gripping position 2; (c) gripping position 3; and (d) gripping position 4

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