Optimal design of adaptive compliant mechanisms with inherent actuators comparing discrete structures with continuum structures incorporating flexure hinges

A compliant mechanism represents a single piece flexible structure which uses elastic deformation of its flexible members to achieve force and motion transmission. There are many advantages of using compliant mechanisms compared with rigid body mechanisms: Absence of wear and backlash, reduced noise, no assembly, easier maintenance and manufacturing. Previous studies of compliant mechanisms use a design process where actuators and sensors are added after the compliant mechanism is developed. This includes the determination of actuator and sensor type, orientation, size and location. In this paper a novel methodology for the optimal design of adaptive compliant mechanisms and their actuation in only one structure is represented. Hence, the structural topology of the compliant mechanism and the placement of multiple inherent actuators are simultaneously synthesized. Two different approaches during the novel design methodology are used for exemplary developing two topology optimized adaptive compliant grippers with same topology but different shape: A discrete beam like structure and a continuum structure incorporating optimal designed flexure hinges with polynomial contours. The improvement of performance of both grippers is compared regarding the adaptability and the stroke. Index Terms Adaptive compliant mechanisms, topology optimization, shape optimization, flexure hinges, adaptive gripper