A two-stage optimization procedure for the design of an EAP-actuated soft gripper

Wei Zhang, Jonathan Hong, Saad Ahmed, Zoubeida Ounaies, Mary Frecker

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An increasing range of engineering applications require soft grippers, which use compliant mechanisms instead of stiff components to achieve grasping action, have high conformability and exert gentle contact with target objects compared to traditional grippers. In this study, a three-fingered gripper is first designed based on a notched self-folding mechanism actuated using an electrostrictive PVDF-based terpolymer. Then the design optimization problem is formulated, where the design objectives are to maximize the free deflection ∆free and the blocked force Fb. A computationally efficient two-stage design optimization procedure is proposed and successfully applied in the gripper design. NSGA-II is adopted as the optimization algorithm for its capacity to deal with multiobjective optimization problems and to find the global optima with high design variables and large design domains. In stage one, computationally less expensive analytical models are developed based on Bernoulli-Euler beam theory and Castigliano’s theorem to calculate ∆free and Fb. Utility function is applied to determine the best design in the last generation of stage one. In stage two, 3D FEA models are developed, using the dimensions determined by the best design from stage one, to investigate effect of the shape of segment surfaces on the design objectives. Overall, the proposed two-stage optimization procedure is successfully applied in the actuator design and shows the potential to solve a wide range of structural optimization problems.

Original languageEnglish (US)
Title of host publication43rd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859247
DOIs
StatePublished - Jan 1 2019
EventASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States
Duration: Aug 18 2019Aug 21 2019

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B-2019

Conference

ConferenceASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
CountryUnited States
CityAnaheim
Period8/18/198/21/19

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Fingerprint Dive into the research topics of 'A two-stage optimization procedure for the design of an EAP-actuated soft gripper'. Together they form a unique fingerprint.

Cite this