免装配柔性夹钳的变密度法结构设计

Structure Design for No-Assembly Compliant Gripper Based on the Variable Density Method

目前柔性夹钳的结构设计大多为中间驱动的单载荷输入形式,而实际应用中对夹钳的使用则更需要两端载荷输入的形式。建立了基于变密度法的柔性夹钳的数学模型,采用变密度法对设计区域进行了结构拓扑优化,根据经验法将拓扑优化结果进行了重构,并对优化过程中的重要参数进行了分析,说明了单元格的种类、数量以及体积分数对拓扑优化的重要性。设计出了一种新型的两端夹持力输入的免装配柔性夹钳,并对设计结果的有效性进行了验证。

Nowadays, the structural design of compliant gripper is mostly concentrated in the single load gripper, and its input load is in the middle, but it is necessary＂ on the daily use for the gripper whose loads are on the two sides. The mathematical model of compliant gripper was built based on the variable density method, and the method was also used in the structural topology optimization on the design are~ The restdt was rebuilt by empirical method. The influences of three important parameters, including element type, the quantity of element and the reserved volume fraction, which occurred in the topology progress, were analyzed. A new type of no-assembly compliant gripper had been designed, and the validity of the results was verified. And a new type of design method for no-assembly design was provided.