Topology optimization design for compliant gripper based on the variable density method

At present the compliant gripper is mostly designed by the form of single middle-driven input, but it is necessary on the practical use for the gripper whose loads are on the two sides. The mathematical model of compliant gripper was built based on the variable density method, and the method was also used in the structural topology optimization on the design area. According to the topology optimization result, the gripper model was rebuilt by empirical method to make it from rigid body to flexible body. The influences of element type, element quantity and reserved volume fraction on the topology optimization process were analyzed in detail. A new type of no-assembly compliant gripper had been designed, and the feasibility of the design was verified.