柔性夹钳的拓扑优化设计及其3D打印制造

Topology Optimization Design and 3D Printing of Compliant Gripper

拓扑优化方法可用于柔性变形机构的创新性设计,3D打印技术为拓扑优化结果提供了一个快捷有效的制造方式。但拓扑优化方法所设计的柔性夹钳常常存在较为明显的集中铰链,受3D打印加工条件和材料的限制,这种铰链特征往往难以保证结构的可制造性和正常的使用。因此需要在设计过程中采用较大的输入输出弹簧刚度系数以避免铰链的出现,而此时所得到的结构的变形能力又非常有限。基于此,为了同时保证结构的可制造性和变形能力,以熔融沉积(FDM)加工技术为制造基础,讨论了拓扑优化结构再设计和双材料的引入对夹钳柔度的改善。数值分析和实验的结果表明,拓扑优化理论可以快速的为柔性机构提供较优的几何构型,通过结构的改进和打印材料的分配,能够同时兼顾结构的制造和变形能力。

Topology optimization method can be used for innovative design of compliant deformation mechanism.3D printing technology provides a quick and effective manufacturing method for topologically optimizeddesigns.However,compliant grippers designed by topology optimization usually have obvious concentrated hinges that make it difficult to ensure the manufacturability and normal use of structures due to the limitations of 3D printing processing conditions and materials.Therefore,it was necessary to use a larger input and output spring stiffness coefficient in the design process to avoid the emergence of hinges.But the deformation capacity of the structure was also limited as a result.For this reason,in order to ensure the manufacturability and deformability of the structure,based on the FDM(Fused Deposition Modeling)manufacturing technology,the topology optimization structure redesign and the introduction of bi-material are discussed to improve the flexibility of the gripper.The results of numerical analysis and experiment show that topology optimization theory can quickly provide better geometric configuration for compliant mechanism.Through the improvement of structure and the distribution of printing materials,the manufacturing and deformation ability of the structure can be considered at the same time.