Topology synthesis and optimal design of an adaptive compliant gripper to maximize output displacement.

摘要

This interesting paper is well written and technically sound. Its purpose is well stated and the background research is sufficient. The methodology is reasonable and the experimental results verify the proposed method. The paper proposes a soft-add topology optimization algorithm to synthesize an optimal structure for a compliant gripper in order to maximize the gripper's output gripping force for variant shapes. Traditional hard-kill and soft-kill methods remove elements during the calculation iterations. The proposed method is an additive method, that is, it adds elements during the iterations. The authors claim that their method uses less computation power and fewer iterations.