Abstract: Aiming at the problems that piezo-driven flexible microgrippers were easy to rotate and slip during clamping, which were hard to keep stable clamping, a flexible microgripper was designed using continuum structure topology optimization method. The solid isotropic material penalty(SIMP) model topology description method was used herein, and the ratio of maximum output displacement to input displacement, minimum rotation angle, minimum parasitic displacement, and end stiffness were used as optimization objectives. The topology optimization problem was divided into two stages by hierarchical sequence method. The topology optimization design model of the flexible parallel microgrippers was developed and solved by the optimisation criterion(OC) method to obtain a flexible parallel microgripper with low parasitic displacements. The effectiveness of the algorithm was verified by simulation comparisons of the microgrippers without suppressing rotation angle and parasitic displacement. The designed microgrippers were machined and measured. The unit parasitic rotation and relative parasitic displacement is as 0.001 384 27 mrad/μm and 0.7%, respectively, The designed microgrippers have a low parasitic displacement and rotation angle, the microgrippers may realize parallel gripping, which verifies the validity of the design.

Key words: flexible microgripper, parasitic displacement, unit parasitic rotation, parallel gripping

摘要： 针对压电驱动柔性微夹持器在夹持过程中易产生旋转和滑移现象，不能很好地实现稳定夹持的问题，采用连续体结构拓扑优化方法设计了柔性微夹持器。采用固体各向同性材料惩罚模型拓扑描述方法，将输出位移与输入位移比最大、旋转角度最小、寄生位移最小和末端刚度作为优化目标。使用分层序列法将拓扑优化问题分为两个阶段，建立了柔性平行微夹持器的拓扑优化设计模型，用优化准则法求解得到低寄生位移柔性平行微夹持器，与未抑制旋转角度和寄生位移的微夹持器进行仿真对比，验证了算法的有效性。加工微夹持器并测得单位寄生旋转和相对寄生位移分别为0.001 384 27 mrad/μm和0.7%，具有较低的寄生位移和旋转角度，能够实现平行夹持，验证了设计的有效性。

关键词: 柔性微夹持器, 寄生位移, 单位寄生旋转, 平行夹持