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Topology synthesis and optimal design of an adaptive compliant gripper to maximize output displacement
Liu C., Huang G., Chiu C., Pai T. Journal of Intelligent and Robotic Systems90 (3-4):287-304,2018.Type:Article
Date Reviewed: Jan 21 2019

This interesting paper is well written and technically sound. Its purpose is well stated and the background research is sufficient. The methodology is reasonable and the experimental results verify the proposed method.

The paper proposes a soft-add topology optimization algorithm to synthesize an optimal structure for a compliant gripper in order to maximize the gripper’s output gripping force for variant shapes. Traditional hard-kill and soft-kill methods remove elements during the calculation iterations. The proposed method is an additive method, that is, it adds elements during the iterations. The authors claim that their method uses less computation power and fewer iterations.

To explain the proposed method, the authors provide theoretical background in section 2. The overall writing of this section is fine. However, readers who are not in the field may have a few remaining questions regarding the introduction of the dummy force vector F2 in equation (2) and the direction of force Fin in the boundary condition of figure 4.

In section 2’s calculation results, the authors only give one calculation result for segment 1 and segment 2. It will be very interesting to see other results, for example, if the boundary condition is changed or the material property is changed.

Section 3 optimizes the structure, based on the results in section 2, using finite element analysis. This section is necessary, but not the theoretical contribution of the paper.

In section 4, the authors compare the results of three grippers via physical models. It is unclear how the three grippers were designed. Are they three variants that evolved from the same initial condition in section 2? A number of objects with different shapes were used to test these grippers. Results verify that the gripper’s design is efficient.

Overall, the paper is easy to follow. The proposed method improves the existing topology method to synthesis a gripper. A few points and experimental conditions could have been more clearly explained.

Reviewer:  Jindong Liu Review #: CR146390 (1904-0141)
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