Topology Optimization and Application of an Adaptive Compliant Gripper

August 1, 2022, Harbin

Professor Xianmin Zhang

Abstract

This work develops a cable-driven compliant robotic gripper with multi-input and multi-output using topology optimization considering geometric nonlinearity, which not only performs adaptive grasping but also enables finer manipulations such as rotating or panning the target. A scheme that can describe adaptive grasping behavior is proposed, which converts the contact between the clamping surface and the object into a boundary condition to circumvent complex contact nonlinearities. An additive hyperelasticity technique is used to overcome numerical instabilities. Numerical simulations and experimental results are performed to demonstrate the effectiveness of the optimization algorithm. In order to use the compliant gripper for the robotic sorting system, the compliant gripper is integrated into the UR5 manipulator, and a real-time communication method for the robotic sorting system using the ROS framework is proposed. Two thin film pressure sensors are mounted on the compliant gripper to provide force feedback signals. Based on the proposed communication and control method, the k-means clustering algorithm is used to realize the pre-classification of common objects. This compliant gripper is applied to an actual sorting task using a self-supervised deep reinforcement learning algorithm. The application results show that the compliant gripper can grip objects of different shapes more safely and stably.

Biography

Prof. Xianmin Zhang is currently the dean and doctoral supervisor of the School of Mechanical and Automotive Engineering, South China University of Technology. He was promoted to professor in 1998. He is the recipient of the National Science Fund for Distinguished Young Scholars (2008), the national candidate for the New Century Hundred Thousand Talents Project (2006), the Outstanding Talent of a special support program of Guangdong Province (2019), State Council Government Allowance Expert (2007), Winner of Ding Ying Science and Technology Award (2007). He also serves as the executive committee member of the IFToMM (International Federation for the Promotion of Mechanism and Machine Science), Associate Editor of Journal of Mechanism and Robotics (ASME) (2013-2016); His research fields involve robotics, mechanism kinematics and dynamics, machine vision, and precision manufacturing equipment. Published more than 400 SCI and EI indexed papers, of which more than 200 SCI indexed papers were published in important international journals, and the papers were cited more than 8000 times; Authorized more than 100 domestic and foreign patents. Some achievements have won the first prize of Guangdong Province Science and Technology Invention Award once, the first prize of Science and Technology Progress Award twice, the Guangdong Province Patent Gold Award once, and the China Excellent Patent Award twice.

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