A Note on Redesign Material Substitution and Topology Optimization in a Lightweight Robotic Gripper

Abstract

The gripper is required because it is the portion of the robot that makes direct contact with the object being grasped. It should weigh as little as possible without compromising functionality or its performance. This study aims to reconsider the construction of a lightweight robotic gripper by modifying the gripper's materials and topology. Using the finite element (FE) method, several types of gripper materials were evaluated for static stress. On the basis of the results of the FE analysis, the optimal material candidate was chosen using the weighted objective method. Using the Fusion 360 software, the topology of the selected material was then optimized in an effort to achieve the 40% weight reduction’s objective. In addition, the suggested optimized geometry is then fine-tuned so that it can be manufactured as efficiently as possible. The final step in the validation of the robotic gripper's design was stress static analysis. The revised gripper design has a mass of 0.08 kg, a reduction of 94% from the original mass, and a safety factor of 3.67%, which satisfies the desired level of performance for the robotic gripper. Utilizing different materials and optimizing the gripper's topology can significantly reduce the overall mass of a robotic gripper.