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Topology Optimization of a Compliant Mechanism for Micro Object Gripping

Saeian, Amir | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 46389 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Ghaemi Osgouie, Kambiz; Khayyat, Ali Akbar
  7. Abstract:
  8. Herein, an introduction to optimization, aiming to help knowledge development in design optimization techniques is given. Besides, a new method of using the theory of topology optimization to optimize a microgripper system, with a piezoelectric ceramic driver (PZT) microactuator is presented as well. An optimization method is also presented to generate better control conditions. In this study a micro object gripper of 9200 µm length, 8100 µm width, and 500 µm thickness is optimized, and performances improvement is analyzed. This thesis is to investigate best practice and give advice on how to understand the process of topology optimization and how to setup an optimization run. At first, an elaboration of basic topology optimization theory is given; discussing topology optimization history, mathematical algorithms, available software, and general workflow when performing topology optimization then tuning methods of PID controller and optimization of PID constant with Particle Swarm Optimization (PSO) are proposed. In particular, the widely used SIMP-algorithm and the MinMax approach are elaborated, as well as proposing solution strategies for obtaining suitable results, depending on the desired properties. The thesis further discusses the use of Abaqus ATOM for topology optimizing and PSO for tuning of PID constants with Matlab. Simulation results from constant volume and output displacements suggest geometries that for the mentioned microgriper minimize 30% of maximum stress concentration and increase 12% output displacement with 7% lower input displacement with 4.38% reduction in supported areas and propose PSO Algorithm for better tuning of PID constants to eliminate Peak over shoots and lower rise time
  9. Keywords:
  10. Topology Optimization ; Microgripper ; Compliant Mechanism ; Topology Optimization ; Micromanipulator

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