本研究建構出一套多重邊界條件與材料拓樸最佳化方法及提出一套用於設計指節型自適性撓性夾爪之方法，多重邊界條件與材料拓樸最佳化方法以SIMP方法為主架構，並加入多重邊界條件設計及多重材料設計，前者可同時優化單一設計於不同運作條件下之目標函數，而後者則可藉由增加材料運用之靈活性以進一步提升目標函數。而指節型自適性撓性夾爪設計方法則透過將單一夾爪的原始設計區間切分為多個設計區間，每個設計區間即為夾爪的指節之一。本研究即是以多重邊界條件與材料拓樸最佳化方法並搭配指節型自適性撓性夾爪設計方法以優化夾爪自適性為目標進行設計，因此本研究所設計之指節型自適性撓性夾爪可藉由指節與指節間的位移傳遞進而包覆被夾取物以達成夾取任務。本研究以TPE (Thermoplastic elastomer) 為材料並以FDM (Fused deposition modeling) 3D列印進行夾爪之製作，其中多重材料設計是將不同填充密度之TPE材料等效近似為不同材料，因此本研究亦進行材料拉伸實驗以取得不同填充密度之TPE材料之線彈性及超彈性模型。本研究將製作完成之夾爪裝配於致動器上進行自適性及相關效能之測試，並與FESTO公司自適性撓性夾爪 (型號為Adaptive gripper finger DHAS) 進行比較。本研究挑選外形不同之物體並以夾取時夾爪夾持面與物體表面所接觸之長度作為自適性之指標，測試結果顯示本研究所開發之指節型自適性撓性夾爪之自適性效能平均約為FESTO公司之夾爪的15倍，而FESTO公司之夾爪之最大負載為2.65kg，本研究所開發之夾爪之最大負載則為6.71kg，為其2.5倍。而經由實物夾取實驗可呈現指節型自適性撓性夾爪於夾取各式外形物體時之良好自適性，且即便是夾取較脆弱之物體亦可使其不受任何損傷。

This study constructs a multiple boundary condtions and materials topology optimization method and proposes a method to design knuckle-type adaptive compliant grippers. The former can improve the objective function by increasing the flexibility of the use of materials to design a mechanism with multiple inputs and outputs. The latter can optimize the adaptability of the grippers by dividing the original design domain into multiple design domains, each of them is a knuckle of the gripper. The knuckle-type adaptive compliant grippers’ adaptability is optimized by topology optimization, and can grip different kinds of objects by tranfering displacement between each knuckles. The TPE (Thermoplastic elastomer) is used as the material of gripper, and the FDM (Fused deposition modeling) 3D printing is used to prototype the design. In the multi-material design, this study varies the infill densities of the TPE to approximate as different materials. Therefore, the mechanical properties (including linear elastic and hyperelastic material models) of the TPE with different infill densities are obtained by performing tensile tests. In this study, the grippers are assembled on the actuator to test its adaptability and performace. Besides, this study makes a comparison with the commercial adaptive compliant gripper made by FESTO. The results show that the adaptability of the proposed knuckle-type adaptive compliant grippers is 15 times better then the FESTO’s adaptive complant gripper. The maximum payload of the knuckle-type adaptive comliant gripper is 6.71kg, which is 2.5 times of the FESTO’s 2.5kg. The experimental results show that the developed knuckle-type adaptive compliant gripper has better adaptability when gripping various objects and can protect the fragile objects from being damage.

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