Structural optimization for 2, 3 and 4 fingers mechanical gripper using the finite element method
DOI:
https://doi.org/10.37636/recit.v8n3e383Keywords:
Optimization, Gripper, Structural, Finite elementAbstract
In industry, pick-and-place applications are common across many processes. However, grippers play a key role in ensuring proper gripping and support of the materials being handled. This article presents a topological optimization study of mechanical grippers with two, three, and four fingers, all designed under identical usage specifications. The objective is to analyze structural behavior, material usage, and safety factors. The work involves developing physical models of the grippers, defining mesh types, and boundary conditions. Subsequently, finite element analysis and topological optimization are performed to obtain results for deformation, stress, and safety factor. The results show deformation in phalanx 1 across all three cases, with the two-finger gripper exhibiting the highest value at 2.4205 mm. The lowest stress values are observed in the four-finger gripper, reaching 29.25 MPa. In all cases, the safety factor exceeds the value of 2. Finally, material optimization reveals that the greatest reduction, up to 20% occurs in the four-finger gripper, specifically in low-stress regions such as the base support and phalanx 1.
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