Topology Optimization for a Micro/Nano Compliant Grip and Move with Parallel Movement Tips Using Multi-Objective Compliance

The past few years have witnessed an increasing maturity of the micro- and nano-electro-mechanical systems (Mems/Nems) industry and a rapid introduction of new products addressing applications ranging from biochemical analysis to fiber-optic telecommunications. The assembly of micro-devices involves handling of parts that are extremely very small. A microgripper compliant mechanism is one of the key elements in micro-robotics and micro-assembly technologies for handling and manipulating micro- objects without damage. This paper presents the design of compliant grip and move manipulators with parallel movement tips. The integration of both, gripping and moving manipulators, with parallel movement tips is accomplished by the use of compliant mechanisms, which generate paths that are symmetric. These mechanisms can grip an object and convey it from one point to another with parallel movement. The structural topology optimization approach is applied in order to find the optimal material distribution in the proposed domain for compliant mechanisms. The objective of the optimization problem is to maximize the structural stiffness within the limit of prescribed design volume. A two-dimensional finite element analysis model using Ansys is constructed for the proposed design domain. Three optimal configurations of two-dimensional compliant mechanism, which can realize a micro grip and move with parallel movement tips for a wide range of micro- and nano-objects, are demonstrated.