Research On Design For No-assembly Compliant Gripper Of Bionics

Design for no-assembly has many advantages, such as simplified structure, the sizeand quality reduced and assembly task eased, and it has broad prospects fordevelopment. The rise of3D printing technology brings new opportunities for thedevelopment of design for no-assembly, and thus the theory and method research ofdesign for no-assembly is becoming much more urgent. Two kinds of design forno-assembly methods of compliant mechanism were proposed, and variable densitymethod was studied. Compliant grippers were designed by using the design forno-assembly methods based on topology structural optimization and rigid mechanismintegrated. The main research contents of this paper are as follows:Firstly, type synthesis method was analyzed for the compliant mechanism. Designfor no-assembly was studied in three aspects, kinematic pairs, kinematic chain andmechanism structure. The rigid kinematic pairs were divided into five levels, and ineach level the rigid kinematic pairs were correspondingly designed as flexible hinges.On the basis of compliant mechanism, two kinds of type synthesis methods wereproposed for design for no-assembly.Secondly, topology optimization based on variable density method was studied.Topology optimization model was established, and three kinds of variable densitymethods, the SIMP method, RAMP method and "Four Homes Five Into" method, wereused to solve numerical model problem. The advantages and disadvantages of the threemethods were compared, and a theoretical basis for the design of2D compliant gripperwas provided.Then, a2D no-assembly compliant gripper was designed. The variable densitymethod was used on topology structural design, and then empirical method was used toreconstruct the model to a compliant gripper. The mechanical analysis was carried outon the compliant gripper, and its effectiveness was verified, and some importantparameters were analyzed. And it was verified that it was a feasible and effectivemethod that combined design for no-assembly with topology optimization.Finally, a3D no-assembly compliant gripper was designed. The slider-rockermechanism was chosen, and the size and location of bars were calculated. Thekinematic pair at both ends of bars were transferred to flexure hinges with empirical method. After the3D model of compliant gripper was built, the mechanical propertiesand movement process were simulated. At the same time, the result was verified that thedesign process was feasible for3D design for no-assembly.Design for no-assembly method was combined with topology optimizationtechnology, and the design methods of two-dimensional and three-dimensionalcompliant gripper were proposed, and important parameters and influence factorsduring the design were analyzed. The research has certain theoretical and practicalsignificance for the design of compliant product design for no-assembly.