Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly
This study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant mechanisms, comprising a symmetrical continuum stru...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/4/192 |
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| author | Mohammad Mayyas Naveen Kumar Zahabul Islam Mohammed Abouheaf Muteb Aljasem |
| author_facet | Mohammad Mayyas Naveen Kumar Zahabul Islam Mohammed Abouheaf Muteb Aljasem |
| author_sort | Mohammad Mayyas |
| collection | DOAJ |
| description | This study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant mechanisms, comprising a symmetrical continuum structure of five beams. The proposed methodology centers on the hybrid kinematics for precision and coarse operations of the gripper, parametrizing beam deformations in response to a defined set of boundary conditions and varying input loads. The research employs topology analysis to draw a clear correlation between input load and resultant motion, with a particular emphasis on the mechanism’s capacity to integrate both fine and coarse movements efficiently. Additionally, the paper pioneers an innovative solution to the ubiquitous point-contact problem encountered in grasping, intricately weaving it with the stiffness matrix. The overarching aim remains to provide a streamlined design methodology, optimized for manufacturability, by harnessing the capabilities of contemporary 3D fabrication techniques. This multifaceted approach, underpinned by the multiscale grasping method, promises to significantly advance the domain of robotic gripping and manipulation across applications such as micro-assembly, biomedical manipulation, and industrial robotics. |
| format | Article |
| id | doaj-art-ff3bae827f4d41d18d35452aa4ee2912 |
| institution | OA Journals |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-ff3bae827f4d41d18d35452aa4ee29122025-08-20T02:24:39ZengMDPI AGActuators2076-08252025-04-0114419210.3390/act14040192Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics AssemblyMohammad Mayyas0Naveen Kumar1Zahabul Islam2Mohammed Abouheaf3Muteb Aljasem4Engineering Technology Department, Miami University, Hamilton, OH 45011, USAEngineering Technology Department, Miami University, Hamilton, OH 45011, USAEngineering Technology Department, Miami University, Hamilton, OH 45011, USAEngineering Technology Department, Miami University, Hamilton, OH 45011, USAEngineering Technology Department, Miami University, Hamilton, OH 45011, USAThis study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant mechanisms, comprising a symmetrical continuum structure of five beams. The proposed methodology centers on the hybrid kinematics for precision and coarse operations of the gripper, parametrizing beam deformations in response to a defined set of boundary conditions and varying input loads. The research employs topology analysis to draw a clear correlation between input load and resultant motion, with a particular emphasis on the mechanism’s capacity to integrate both fine and coarse movements efficiently. Additionally, the paper pioneers an innovative solution to the ubiquitous point-contact problem encountered in grasping, intricately weaving it with the stiffness matrix. The overarching aim remains to provide a streamlined design methodology, optimized for manufacturability, by harnessing the capabilities of contemporary 3D fabrication techniques. This multifaceted approach, underpinned by the multiscale grasping method, promises to significantly advance the domain of robotic gripping and manipulation across applications such as micro-assembly, biomedical manipulation, and industrial robotics.https://www.mdpi.com/2076-0825/14/4/192topology analysisrobotic gripping and manipulationrapid designcompliant mechanisms |
| spellingShingle | Mohammad Mayyas Naveen Kumar Zahabul Islam Mohammed Abouheaf Muteb Aljasem Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly Actuators topology analysis robotic gripping and manipulation rapid design compliant mechanisms |
| title | Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly |
| title_full | Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly |
| title_fullStr | Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly |
| title_full_unstemmed | Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly |
| title_short | Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly |
| title_sort | topological design and modeling of 3d printed grippers for combined precision and coarse robotics assembly |
| topic | topology analysis robotic gripping and manipulation rapid design compliant mechanisms |
| url | https://www.mdpi.com/2076-0825/14/4/192 |
| work_keys_str_mv | AT mohammadmayyas topologicaldesignandmodelingof3dprintedgrippersforcombinedprecisionandcoarseroboticsassembly AT naveenkumar topologicaldesignandmodelingof3dprintedgrippersforcombinedprecisionandcoarseroboticsassembly AT zahabulislam topologicaldesignandmodelingof3dprintedgrippersforcombinedprecisionandcoarseroboticsassembly AT mohammedabouheaf topologicaldesignandmodelingof3dprintedgrippersforcombinedprecisionandcoarseroboticsassembly AT mutebaljasem topologicaldesignandmodelingof3dprintedgrippersforcombinedprecisionandcoarseroboticsassembly |