撓性等力端效器可在不同的輸入位移條件下，在輸出端維持等力輸出，且不需額外加裝感測器進行輸出力量控制，可配合加工工具裝配於機械手臂上，提供過載保護以及保證加工時的等力輸出。本研究提出一個撓性等力機構拓樸最佳化方法來設計一個創新的撓性等力端效器，此流程採用幾何非線性有限元素法來進行結構分析，並加入超彈性體元素避免大變形時元素產生畸變現象，同時使用考慮真實輸出位移及虛擬輸出力的複合目標函數，並以移動漸進線方法更新設計變數。本研究於拓樸最佳化流程中加入密度濾化演算法以及參數化投射方法，用以解決網格相依以及棋盤狀網格等問題，同時為了確保拓樸結果的連接性與完整性，利用形態學運算方法，來避免拓樸最佳化結果產生未連接或單點連接之結構，並可在確保結構連接性的同時減少分枝結構生成。本研究藉由所提出的撓性等力機構拓樸最佳化流程，進行反向機構與夾爪機構的最佳化案例測試，驗證本研究之最佳化流程可適用於不同類型的撓性等力機構設計。並透過此流程設計出一個創新的撓性等力壓縮機構，此機構可做為撓性等力端效器模組之關鍵元件，使用TPE軟性材料以3D列印的方式製作，通過實驗量測撓性等力壓縮機構的輸入位移與輸出力量關係，得到厚度10 mm之撓性等力壓縮機構的等力輸出區間為5 mm至13 mm，等力值為4.3 N，力量值平均絕對誤差為2.55%，而力量值最大振幅為4.30%。本研究實際製作了一個創新的撓性等力端效器進行靜態壓縮試驗以及動態曲面接觸試驗，驗證撓性等力端效器模組可通過調整撓性等力壓縮機構的數量與厚度來調整輸出力量，且力量輸出與裝配機構的數量及厚度成正比。

This study presents a topology optimization procedure to design an innovative compliant constant-force end effector that can provide overload protection and ensure constant output force during operation without the need for additional sensors. The geometrically nonlinear finite element analysis is used and the hyperelastic elements are introduced to avoid distortion when large deformation. A composite objective function considering the actual output displacement and artificial output force is used, and the design variables are updated by the method of moving asymptotes. The density filter scheme and the projection scheme are used to overcome the mesh dependence problem and the checkerboard pattern problem. In addition, a morphology-based scheme is developed to enhance the connectivity of topological results. Through the proposed optimal design procedure, two types of compliant constant-force mechanisms (including a compliant constant-force inverter and a compliant constant-force gripper), and an innovative compliant constant-force compression mechanism have been synthesized. The compliant constant-force compression mechanism can be used as a key component of a compliant constant-force end effector module. The experimental results show that the constant-force range of the compliant constant-force compression mechanism is from 5 to 13 mm, the constant output force is 4.3 N, the average absolute error is 2.55%, and the maximum amplitude of the constant output force is 4.30%. The static compression test and dynamic contact test for the compliant constant-force end effector are performed. The results show that the output force is proportional to the number and thickness of the compliant constant-force compression mechanisms.

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