A Structural Optimization Problem Formulation for Design of Compliant Gripper Using a Genetic Algorithm

Abstract

This paper demonstrates the automatic design of a compliant gripper by structural optimization using genetic algorithms. Compliant mechanisms are single-piece jointless structures that use compliance (elastic deformation) as a means to achieve motion. As such, they have many advantages compared to conventional rigid-link mechanisms and so can be created as a replacement for their rigid-link counterparts, especially when the applications are in the micro-dimensional scale. Recently, relatively simple compliant mechanisms have been successfully synthesized by applying structural optimization methods because these methods automatically determine the topology and shape of structures based on any given desired structural criteria. The mechanism designed in this paper is meant to be able to grip an object and convey it from one point to another. Such a mechanism has useful applications in MEMS and various automation devices, but it is relatively complex. They are difficult to design mainly because their motion has to be analyzed by finite element methods and the relationship between their geometry and their elastic behavior is highly complex and non-linear.