This paper presents the problem formulation and design of compliant grip-and-move manipulators. Each manipulator is composed of two identical path generating compliant mechanisms such that it can grip an object and convey it from one point to another. The integration of both gripping and moving behaviors within a simple mechanism is accomplished by the use of compliant mechanisms, which generate paths that are symmetric. The automated synthesis of these symmetric path generating mechanisms is by a structural topology optimization approach. The problem of topology optimization of continuum structures is solved using a multiobjective genetic algorithm coupled with a morphological representation of geometry that efficiently defines the variable structural geometry upon a finite element grid. A graph-theoretic chromosome encoding together with compatible crossover and mutation operators are then applied to form an effective evolutionary optimization procedure. Two designs have been created and are presented in this paper, and some concluding remarks and future work are put forward.
Skip Nav Destination
e-mail: nfwang@ntu.edu.sg
e-mail: mktai@ntu.edu.sg
Article navigation
November 2008
Research Papers
Design of Grip-and-Move Manipulators Using Symmetric Path Generating Compliant Mechanisms
N. F. Wang, Graduate Student,
N. F. Wang, Graduate Student
School of Mechanical and Aerospace Engineering,
e-mail: nfwang@ntu.edu.sg
Nanyang Technological University
, 50 Nanyang Avenue, Singapore 639798, Singapore
Search for other works by this author on:
K. Tai
K. Tai
Associate Professor
School of Mechanical and Aerospace Engineering,
e-mail: mktai@ntu.edu.sg
Nanyang Technological University
, 50 Nanyang Avenue, Singapore 639798, Singapore
Search for other works by this author on:
N. F. Wang, Graduate Student
School of Mechanical and Aerospace Engineering,
Nanyang Technological University
, 50 Nanyang Avenue, Singapore 639798, Singaporee-mail: nfwang@ntu.edu.sg
K. Tai
Associate Professor
School of Mechanical and Aerospace Engineering,
Nanyang Technological University
, 50 Nanyang Avenue, Singapore 639798, Singaporee-mail: mktai@ntu.edu.sg
J. Mech. Des. Nov 2008, 130(11): 112305 (9 pages)
Published Online: September 30, 2008
Article history
Received:
October 9, 2007
Revised:
June 13, 2008
Published:
September 30, 2008
Citation
Wang, N. F., and Tai, K. (September 30, 2008). "Design of Grip-and-Move Manipulators Using Symmetric Path Generating Compliant Mechanisms." ASME. J. Mech. Des. November 2008; 130(11): 112305. https://doi.org/10.1115/1.2976790
Download citation file:
Get Email Alerts
Large Language Models for Predicting Empathic Accuracy Between a Designer and a User
J. Mech. Des (April 2025)
Repurposing as a Decommissioning Strategy for Complex Systems: A Systematic Review
J. Mech. Des (May 2025)
A Dataset Generation Framework for Symmetry-Induced Mechanical Metamaterials
J. Mech. Des (April 2025)
Related Articles
Design of 2-DOF Compliant Mechanisms to Form Grip-and-Move Manipulators for 2D Workspace
J. Mech. Des (March,2010)
Synthesis of Path Generating Compliant Mechanisms Using Initially Curved Frame Elements
J. Mech. Des (October,2007)
Synthesis of Compliant Mechanisms for Path Generation using Genetic Algorithm
J. Mech. Des (July,2005)
Decomposition-Based Assembly Synthesis for Structural Stiffness
J. Mech. Des (September,2003)
Related Proceedings Papers
Related Chapters
An Approach for System Development Using Evolutionary Probabilistic Strategy and Grammar Rules
Intelligent Engineering Systems through Artificial Neural Networks, Volume 16
Data Tabulations
Structural Shear Joints: Analyses, Properties and Design for Repeat Loading
Optimization and Application of Genetic Algorithm
International Conference on Advanced Computer Theory and Engineering, 5th (ICACTE 2012)