Topology design of a conforming gripper with distributed compliance via a level set method

Yang Liu; Michael Yu Wang

doi:10.1109/ROBIO.2014.7090662

Topology design of a conforming gripper with distributed compliance via a level set method

Yang Liu
, Michael Yu Wang

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

11 Citations (Scopus)

Abstract

This paper focuses on the design of a gripper that can grasp objects with shape, size and pose uncertainty. Rather than a dexterous hand with multiple actuators and sensors, a passively adaptive gripper made of soft material can conform to various objects by using compliance. In this paper, we present a novel design methodology for a passively adaptive gripper by employing a level-set-based topology optimization technique and soft robotic technology. An underactuated conforming gripper based on this framework is proposed, and its conforming capability has been demonstrated by a variety of successful grasping experiments over various objects. The proposed gripper is cost-effective because it is monolithic and no assembly is required. The preliminary prototype is made of low-cost Polydimethylsiloxane (PDMS) elastomer and the manufacturing process is quite simple.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	2191-2196
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090662
Publication status	Published - 2014
Externally published	Yes
Event	IEEE International Conference on Robotics and Biomimetics 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014 https://ieeexplore.ieee.org/xpl/conhome/7062021/proceeding (Proceedings)

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	IEEE International Conference on Robotics and Biomimetics 2014
Abbreviated title	ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7062021/proceeding (Proceedings)

Access to Document

10.1109/ROBIO.2014.7090662

Cite this

Liu, Y., & Wang, M. Y. (2014). Topology design of a conforming gripper with distributed compliance via a level set method. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 2191-2196). (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ROBIO.2014.7090662

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title = "Topology design of a conforming gripper with distributed compliance via a level set method",

abstract = "This paper focuses on the design of a gripper that can grasp objects with shape, size and pose uncertainty. Rather than a dexterous hand with multiple actuators and sensors, a passively adaptive gripper made of soft material can conform to various objects by using compliance. In this paper, we present a novel design methodology for a passively adaptive gripper by employing a level-set-based topology optimization technique and soft robotic technology. An underactuated conforming gripper based on this framework is proposed, and its conforming capability has been demonstrated by a variety of successful grasping experiments over various objects. The proposed gripper is cost-effective because it is monolithic and no assembly is required. The preliminary prototype is made of low-cost Polydimethylsiloxane (PDMS) elastomer and the manufacturing process is quite simple.",

author = "Yang Liu and Wang, \{Michael Yu\}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; IEEE International Conference on Robotics and Biomimetics 2014, ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

doi = "10.1109/ROBIO.2014.7090662",

language = "English",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

pages = "2191--2196",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

address = "United States of America",

url = "https://ieeexplore.ieee.org/xpl/conhome/7062021/proceeding",

}

Liu, Y & Wang, MY 2014, Topology design of a conforming gripper with distributed compliance via a level set method. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, IEEE, Institute of Electrical and Electronics Engineers, pp. 2191-2196, IEEE International Conference on Robotics and Biomimetics 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090662

Topology design of a conforming gripper with distributed compliance via a level set method. / Liu, Yang; Wang, Michael Yu.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. IEEE, Institute of Electrical and Electronics Engineers, 2014. p. 2191-2196 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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AB - This paper focuses on the design of a gripper that can grasp objects with shape, size and pose uncertainty. Rather than a dexterous hand with multiple actuators and sensors, a passively adaptive gripper made of soft material can conform to various objects by using compliance. In this paper, we present a novel design methodology for a passively adaptive gripper by employing a level-set-based topology optimization technique and soft robotic technology. An underactuated conforming gripper based on this framework is proposed, and its conforming capability has been demonstrated by a variety of successful grasping experiments over various objects. The proposed gripper is cost-effective because it is monolithic and no assembly is required. The preliminary prototype is made of low-cost Polydimethylsiloxane (PDMS) elastomer and the manufacturing process is quite simple.

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Liu Y, Wang MY. Topology design of a conforming gripper with distributed compliance via a level set method. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. IEEE, Institute of Electrical and Electronics Engineers. 2014. p. 2191-2196. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090662

Topology design of a conforming gripper with distributed compliance via a level set method

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