Topology design of a conforming gripper with distributed compliance via a level set method

This paper focuses on the design of a gripper that can grasp objects with shape, size and pose uncertainty. Rather than a dexterous hand with multiple actuators and sensors, a passively adaptive gripper made of soft material can conform to various objects by using compliance. In this paper, we present a novel design methodology for a passively adaptive gripper by employing a level-set-based topology optimization technique and soft robotic technology. An underactuated conforming gripper based on this framework is proposed, and its conforming capability has been demonstrated by a variety of successful grasping experiments over various objects. The proposed gripper is cost-effective because it is monolithic and no assembly is required. The preliminary prototype is made of low-cost Polydimethylsiloxane (PDMS) elastomer and the manufacturing process is quite simple.