Topology Optimization for Design of a 3D-Printed Constant-Force Compliant Finger

A compliant constant-force mechanism is a passive force regulation device that can generate nearly constant output over range of input or displacements while without the use sensors and feedback control. In topology synthesis for given displacement range, be achieved by maintaining to same value increases. order further control desired before contacting object, this article introduces new composite objective function consider both (with contact) (without synthesized mechanism. The sensitivity proposed with respect element density derived considering effect nonlinearity in large deformation condition. optimization method used design an innovative finger, its prototype manufactured 3-D printing using flexible thermoplastic elastomer. experimental results show developed finger provide 41.9 N ranging from 15 30 mm maximum average variations within are 2.2% 0.9%, respectively. addition, three-fingered gripper robotic grasping fragile objects.