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Kang, Long, Jong-Tae Seo, Sang-Hwa Kim, Wan-Ju Kim, and Byung-Ju Yi. "Design and Implementation of a Multi-Function Gripper for Grasping General Objects." Applied Sciences 9, no. 24 (December 4, 2019): 5266. http://dx.doi.org/10.3390/app9245266.
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The development of a reliable pick-and-place system for industrial robotics is facing an urgent demand because many manual-labor works, such as piece-picking in warehouses and fulfillment centers tend toward automation. This paper presents an integrated gripper that combines a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of objects in different working environments. The underactuated gripper consists of two fingers, and each finger has three degrees of freedom that are obtained by stacking one five-bar mechanism over one double parallelogram. Furthermore, each finger is actuated by two motors, both of which can be installed at the base owing to the special architecture of the proposed robotic finger. A suction cup is used to grasp objects in narrow spaces and cluttered environments. The combination of the suction and traditional linkage-driven grippers allows stable and reliable grasping under different working environments. Finally, practical experiments using a wide range of objects and under different grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper.
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Liu, Mingfang, Lina Hao, Wei Zhang, and Zhirui Zhao. "A novel design of shape-memory alloy-based soft robotic gripper with variable stiffness." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988142090781. http://dx.doi.org/10.1177/1729881420907813.
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Soft robotic grippers with compliance have great superiority in grabbing objects with irregular shape or fragility compared with traditional rigid grippers. The main limitations of such systems are small grasping force resulted from properties of soft actuators and lacking variable stiffness of soft robotic grippers, which prevent them from a larger wide range of applications. This article proposes a shape-memory alloy (SMA)-based soft gripper with variable stiffness composed of three robotic fingers for grasping compliantly at low stiffness and holding robustly at high stiffness. Each robotic finger mainly consisted of stiff parts and two variable stiffness joints is installed on the base with a specific angle. The paraffin as a variable stiffness material in the joint can be heated or cooled to change the stiffness of the robotic fingers. Results of experiments have shown that a single robotic finger can approximately achieve 18-fold stiffness enhancement. Each finger with two joints can actively achieve multiple postures by both changing the corresponding stiffness of joints and actuating the SMA wire. Based on these principles, the gripper can be applied to grasp objects with different shapes and a large range of weights, and the maximum grasping force of the gripper is increased to about 10 times using the variable stiffness joints. The final experiment is conducted to validate variable stiffness of the proposed soft grippers grasping an object.
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Staretu, Ionel, and Sebastian Jitariu. "Reconfigurable Anthropomorphic Gripper with Three Fingers: Synthesis, Analysis, and Simulation." Applied Mechanics and Materials 762 (May 2015): 75–82. http://dx.doi.org/10.4028/www.scientific.net/amm.762.75.
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This paper shows the steps of structural synthesis and analysis, kinematic synthesis and analysis and CAD constructive design of a reconfigurable modular anthropomorphic gripper with three fingers. Modularity refers to the fact that the gripper variants can be obtained with only two modules, namely a platform and a finger. Reconfigurability refers to the fact that the main variants of the gripper can be obtained by changing the relative position of the fingers. It is demonstrated that the three-finger gripper has four main configurations that provide important functionality even reported to the functionality of a three-finger gripper with continuous reconfigurability. To verify correct operation, functional CAD simulation is performed, and for dynamic operation simulation, we turn to the advanced software ADAMS. An important advantage of this type of gripper, compared to those with continuous reconfigurability, is much lower price at a relatively good functionality for current robotic gripping operations. The paper makes possible subsequent turn to prototype, testing the gripper operation, as it is mounted on an industrial robot, and optimization of its operation by equipping it with contact sensors. The simulation of the gripper operation in virtual environment and data transmission to the real gripper is a solution of interest that will be studied in future research.
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Pham, D. T., and M. J. Nategh. "Optimum design of gripper jaws for tapered components." Robotica 8, no. 3 (July 1990): 223–30. http://dx.doi.org/10.1017/s0263574700000084.
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SUMMARYFor ease of manufacture, axisymmetric components produced by processes such as forging, casting and moulding are often designed with a taper angle. This paper presents a family of devices for handling such components by their tapered portion. The devices are essentially finger tips, or jaws, to be fitted to standard scissor-type robot grippers. The jaws possess a three-dimensional profile constructed as a stack of v-shaped planar curves. The special jaw profile enables components of different diameters and taper angles to be gripped concentrically without calling for complex movements to reposition the gripper. The equations describing two categories of profile are derived and the optimum selection of profile parameters to yield compact jaws to grip components of a wide range of dimensions is discussed in the paper.
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Lee, Wei-chen, and Chih-Wei Wu. "Design and analysis of a novel robotic gripper integrated with a three-phalanx finger." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 10 (November 11, 2013): 1786–96. http://dx.doi.org/10.1177/0954406213511422.
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The paper describes the development of an innovative robotic gripper. To increase grasping stability without using too much space or causing control complexity, a three-phalanx underactuated finger is embedded in the gripper. This research mainly focuses on the mechanical design, kinematic, and static analyses of the robotic gripper. The results obtained through both simulation and experiments show good correlation with the analytical results. The preliminary experimental grasping results demonstrate that this robotic gripper with an embedded finger can successfully perform various activities of daily living.
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Anwar, Muddasar, Toufik Al Khawli, Irfan Hussain, Dongming Gan, and Federico Renda. "Modeling and prototyping of a soft closed-chain modular gripper." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 135–45. http://dx.doi.org/10.1108/ir-09-2018-0180.
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Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.
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Kaviyarasan, S., and I. Infanta Mary Priya. "Design and fabrication of three finger adaptive gripper." IOP Conference Series: Materials Science and Engineering 402 (September 20, 2018): 012043. http://dx.doi.org/10.1088/1757-899x/402/1/012043.
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Dilibal, Savas, Ertan Guner, and Nizami Akturk. "Three-finger SMA robot hand and its practical analysis." Robotica 20, no. 2 (March 2002): 175–80. http://dx.doi.org/10.1017/s0263574701003757.
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Gripping of different types of objects with a multi-finger robot hand is a vital task for robot arms. Grippers, which are end effector elements in robot applications, are employed in various industrial operations such as transferring, assembling, welding and painting. However, if a gripper is considered for handling different jobs or to carry different types of parts in an assembly line, a general-purpose robot hand is going to be required. There are various technological actuators of robot hands such as electrical, hydraulic and pneumatic motors, etc. Besides these conventional actuators, it is possible to include Shape Memory Alloys (SMA) in the category of technological actuators. The SMA can give materials motion by moving to a predetermined position, at a specific temperature. The conversion of this motion to a gripping action of the robot hand is the heart of the matter. In this study, a robot hand is developed using Ni-Ti SMA and a set of experiments were performed in order to check the compatibility of the system in an industrial environment.
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Batsuren, Khulan, and Dongwon Yun. "Soft Robotic Gripper with Chambered Fingers for Performing In-Hand Manipulation." Applied Sciences 9, no. 15 (July 24, 2019): 2967. http://dx.doi.org/10.3390/app9152967.
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In this work, we present a soft robotic gripper for grasping various objects by mimicking in-hand manipulation. The soft robotic gripper consists of three fingers. Each finger contains three air chambers: Two chambers (side chambers) for twisting in two different directions and one chamber (middle chamber) for grasping. The combination of these air chambers makes it possible to grasp an object and rotate it. We fabricated the soft finger using 3D-printed molds. We used the finite element method (FEM) method to design the most effective model, and later these results were compared with results from experiments. The combined experimental results were used to control the range of movement of the whole gripper. The gripper could grasp objects weighing from 4 g to 300 g just by inflating the middle chamber, and when air pressure was subsequently applied to one of the side chambers, the gripper could twist the object by 35°.
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Melchiorri, C., and G. Vassura. "Design of a Three-Finger Gripper for Intra-Vehicular Robotic Manipulation." IFAC Proceedings Volumes 31, no. 33 (October 1998): 7–12. http://dx.doi.org/10.1016/s1474-6670(17)38379-9.
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Liu, Chih-Hsing, Fu-Ming Chung, Yang Chen, Chen-Hua Chiu, and Ta-Lun Chen. "Optimal Design of a Motor-Driven Three-Finger Soft Robotic Gripper." IEEE/ASME Transactions on Mechatronics 25, no. 4 (August 2020): 1830–40. http://dx.doi.org/10.1109/tmech.2020.2997743.
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Jiang, Sanlong, Shaobo Li, Qiang Bai, Jing Yang, Yanming Miao, and Leiyu Chen. "Research on Generation Method of Grasp Strategy Based on DeepLab V3+ for Three-Finger Gripper." Information 12, no. 7 (July 8, 2021): 278. http://dx.doi.org/10.3390/info12070278.
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A reasonable grasping strategy is a prerequisite for the successful grasping of a target, and it is also a basic condition for the wide application of robots. Presently, mainstream grippers on the market are divided into two-finger grippers and three-finger grippers. According to human grasping experience, the stability of three-finger grippers is much better than that of two-finger grippers. Therefore, this paper’s focus is on the three-finger grasping strategy generation method based on the DeepLab V3+ algorithm. DeepLab V3+ uses the atrous convolution kernel and the atrous spatial pyramid pooling (ASPP) architecture based on atrous convolution. The atrous convolution kernel can adjust the field-of-view of the filter layer by changing the convolution rate. In addition, ASPP can effectively capture multi-scale information, based on the parallel connection of multiple convolution rates of atrous convolutional layers, so that the model performs better on multi-scale objects. The article innovatively uses the DeepLab V3+ algorithm to generate the grasp strategy of a target and optimizes the atrous convolution parameter values of ASPP. This study used the Cornell Grasp dataset to train and verify the model. At the same time, a smaller and more complex dataset of 60 was produced according to the actual situation. Upon testing, good experimental results were obtained.
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Ghanbari, Ahmad, and Ehsan Qaredaghi. "Simulation and Analysis of Three Finger Micro/Nano Gripper Using Different Materials." Advanced Materials Research 622-623 (December 2012): 665–70. http://dx.doi.org/10.4028/www.scientific.net/amr.622-623.665.
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In this paper, we investigate the three finger micro/nano gripper using piezoelectric actuator. A comparison of various materials as structural and actuator is presented. Different combination of Silicon, Quartz (SiO2), and Aluminium as structural material with PZT4, and PZT-5H as actuating material have been analysed. Results show that the combination of Aluminium with PZT-5H produces more displacement than the others.
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Subramaniam, Vignesh, Snehal Jain, Jai Agarwal, and Pablo Valdivia y Alvarado. "Design and characterization of a hybrid soft gripper with active palm pose control." International Journal of Robotics Research 39, no. 14 (June 1, 2020): 1668–85. http://dx.doi.org/10.1177/0278364920918918.
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The design and characterization of a soft gripper with an active palm to control grasp postures is presented herein. The gripper structure is a hybrid of soft and stiff components to facilitate integration with traditional arm manipulators. Three fingers and a palm constitute the gripper, all of which are vacuum actuated. Internal wedges are used to tailor the deformation of a soft outer reinforced skin as vacuum collapses the composite structure. A computational finite-element model is proposed to predict finger kinematics. Thanks to its active palm, the gripper is capable of grasping a wide range of part geometries and compliances while achieving a maximum payload of 30 N. The gripper natural softness enables robust open-loop grasping even when components are not properly aligned. Furthermore, the grasp pose of objects with various aspect ratios and compliances can be robustly maintained during manipulation at linear accelerations of up to 15 m/s2 and angular accelerations of up to 5.23 rad/s2.
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Jagannathan, S., and G. Galan. "Adaptive Critic Neural Network-Based Object Grasping Control Using a Three-Finger Gripper." IEEE Transactions on Neural Networks 15, no. 2 (March 2004): 395–407. http://dx.doi.org/10.1109/tnn.2004.824407.
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Maffiodo, Daniela, and Terenziano Raparelli. "Three-Fingered Gripper with Flexure Hinges Actuated by Shape Memory Alloy Wires." International Journal of Automation Technology 11, no. 3 (April 28, 2017): 355–60. http://dx.doi.org/10.20965/ijat.2017.p0355.
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A three-fingered gripper with flexure hinges actuated by shape memory alloy (SMA) wires was designed and prototyped. The aim of the work was the manipulation of small, almost cylindrical objects, e.g. test tubes, by a device having small overall dimensions. A parametric study of four different, but similar, fingers was conducted with the aim of obtaining a solution with a good amplification ratio and a gripping force almost constant during closure. The use of flexure hinges simplifies the design, but limits the finger range of motion. Moreover, it was possible to find a configuration with sufficient work space. Once the finger geometry was defined, the whole hand was then designed with the aim of producing a compact hand contained in a cylindrical volume (φ 65×h 65 mm), and the first prototype was built. Preliminary tests demonstrated its good dimensioning and the success of some technological solutions. The experimental transmission ratio was almost the same as the theoretical one. Some drawbacks have been highlighted, such as a reduced range of motion and incomplete backstroke; future studies will deal with them.
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Jeong, Donghwa, and Kiju Lee. "Design and analysis of an origami-based three-finger manipulator." Robotica 36, no. 2 (September 7, 2017): 261–74. http://dx.doi.org/10.1017/s0263574717000340.
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SUMMARYThis paper describes a new robotic manipulator with three fingers based on an origami twisted tower design. The design specifications, kinematic description, and results from the stiffness and durability tests for the selected origami design are presented. The robotic arm is made of a 10-layer twisted tower, actuated by four cables with pulleys driven by servo motors. Each finger is made of a smaller 11-layer tower and uses a single cable directly attached to a servo motor. The current hardware setup supports vision-based autonomous control and internet-based remote control in real time. For preliminary evaluation of the robot's object manipulation capabilities, arbitrary objects with varying weights, sizes, and shapes (i.e., a shuttlecock, an egg shell, a paper cub, and a cubic block) were selected and the rate of successful grasping and lifting for each object was measured. In addition, an experiment comparing a rigid gripper and the new origami-based manipulator revealed that the origami structure in the fingers absorbs the excessive force applied to the object through force distribution and structural deformation, demonstrating its potential applications for effective manipulation of fragile objects.
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Figliolini, Giorgio, and Massimo Sorli. "Open-loop Force Control of A Three-finger Gripper Through PWM Modulated Pneumatic Digital Valves." Journal of Robotics and Mechatronics 12, no. 4 (August 20, 2000): 480–93. http://dx.doi.org/10.20965/jrm.2000.p0480.
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This paper proposes an open-loop force control system for a three-finger gripper using small digital solenoid valves modulated using PWM (Pulse-Width-Modulation) technique. These valves are good candidates for this robotic application because of their small dimensions, low weight and cost, simple structure and easy operation by means of on/off signals. A linear model for pressure control in the pneumatic actuator's thrust chamber was developed and tested experimentally. A large dead-band was introduced in the PWM driver in order to investigate a suitable method for its correction. Good results were obtained by correcting the static characteristic curve of the three-way equivalent valve that controls the flow rate exchanged with the pneumatic cylinder thrust chamber. These results can be applied to similar solutions with larger digital valves. Gripping mechanism efficiency and the effects of friction forces were taken into account in developing the force control.
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Yun, Kwansoo, and Won-Jong Kim. "System identification and microposition control of ionic polymer metal composite for three-finger gripper manipulation." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 220, no. 7 (November 2006): 539–51. http://dx.doi.org/10.1243/09596518jsce215.
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Mauledoux, Mauricio, Vladimir Prada, and Oscar F. S. Avilés. "Grasping Optimization in a Three Fingers Final Effector." Applied Mechanics and Materials 713-715 (January 2015): 919–22. http://dx.doi.org/10.4028/www.scientific.net/amm.713-715.919.
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This paper presents the optimization of gripping points of an end effector of three fingers, and this is done by ensuring that the force exerted on the object is minimum. It begins with the design of the gripper has two degrees of freedom (DOF) for each finger. Is performed a brief mathematical description of the kinematics involved in the gripper and with this is determined the work area. With the workspace is determines the points with contact with the object geometry are obtained and these are gripping the possible points of the object. To select which of these points is the best to grab the object, we proceed to evaluate the force exerted on the object by means of the mathematic denominated of Screw. This force should be minimal, avoiding sliding and in turn damage the object. As the contact points are numerous and the evaluating would take quite some time in an algorithm combinational by this reason the optimization algorithm Non-dominated Sorting Genetic Algorithm (NSGA) is implemented.
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Telegenov, Kuat, Yedige Tlegenov, and Almas Shintemirov. "A Low-Cost Open-Source 3-D-Printed Three-Finger Gripper Platform for Research and Educational Purposes." IEEE Access 3 (2015): 638–47. http://dx.doi.org/10.1109/access.2015.2433937.
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Yan, X. T., K. Case, and R. H. Weston. "A Generalized Approach to the Modelling of Modular Machines." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 208, no. 3 (August 1994): 191–203. http://dx.doi.org/10.1243/pime_proc_1994_208_078_02.
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This paper describes a method of graphically simulating modular machines within a computer aided design environment. This forms part of a much larger Science and Engineering Research Council (SERC) funded programme aimed at advancing modern practices when designing and building manufacturing machines. A generalized approach to the synthesis of the generic features of various kinematic motion pairs is presented and prismatic and revolute motion primitives generalized in their functional and geometric aspects. A hierarchical ring and tree data structure has been designed and implemented to comprehensively represent these motion pairs and to simulate their performance. More complex modular manufacturing machines can be represented using information from a library of up to three degree of freedom motion modules. Seven two degree of freedom motion primitives and twelve three degree of freedom motion primitives with articulation configurations have been analysed and included in the motion primitive library. The configuration of modular machines comprised of physically separate but logically connected distributed motion primitives are described. Examples of a two-finger industrial robot gripper and a three-finger industrial robot hand are used to demonstrate the general principles.
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Xie, Yuanxin, Baohua Zhang, Jun Zhou, Yuhao Bai, and Meng Zhang. "An Integrated Multi-Sensor Network for Adaptive Grasping of Fragile Fruits: Design and Feasibility Tests." Sensors 20, no. 17 (September 2, 2020): 4973. http://dx.doi.org/10.3390/s20174973.
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Secure grasping of fragile fruits and other agricultural products without potential slip and damage is still a challenge due to the size and shape varying, bruise susceptible, as well as hardness changing during fruit and vegetable maturation. In the robotic grasping process, the mechanical damage mainly depends upon the aggressiveness of the gripper and the sensitivity of the product to the damage. In this study, a flexible gripper integrated with multi-sensor network is designed and tested. The network proposed includes three kinds of sensors that enable the gripper to grasp various products with the sense of touch and visual perception. Particular attention has been attached to the sensors applied between the fingers, and this makes sensing and grasping capabilities improved. To create an accurate grasping system, a grasping algorithm and the force control model are proposed for any bending state based on Cosserat theory. The boundary detection is included in the grasping algorithm, detecting the shape edge by some certain point calculation. The created grasping system guarantees mechanical compliance by evaluating and adjusting the finger status including force, angle, and direction. Multi-group tests have been done on grasping several objects of different sizes and materials in daily life. The relationship between force, bending, and surface material is also analyzed and compared under different conditions. The numerical comparisons related to the measurement error are analyzed based on their standard deviations. Experimental results indicate that this flexible manipulator with proposed system and strategy has better grasping ability for fragile fruits with its good flexibility and dexterity.
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Wei, Cheng, Yue Zhang, Hongliu Wang, Yang Zhao, and Lei Zhang. "Inertia parameter identification of space floating target during robotic exploratory grasping." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 11 (January 9, 2019): 4247–60. http://dx.doi.org/10.1177/0954410018819567.
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When the space robot grasps an unknown floating target on orbit, it has many advantages of knowing the inertial parameters of the target during the exploratory grasping process, since, instead of grasping blindly the better control schema can be made in the meantime to increase the safety and performance of the grasping operation. The three-finger gripper is used as the grasp mechanism for which the grasping and contact models are presented to describe the grasping procedure. Then based on the momentum conservation of the robot–target system, the linear identification model of the target inertia parameters is developed. The identification performance for one, two, and three collisions during the grasping process is investigated theoretically. It is found that the full inertia parameters will be obtained within at least three collisions between the space robot and the target. Lastly the identification model for an unknown target is applied, and the numerical simulations show the effectiveness and practicality of the model. The numerical results indicate that the identification method is effective. Furthermore, the more abundant and diverse the collisions are, the more accurate and efficient the identification method will be.
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Vu Duc Quyen and Andrey Ronzhin. "Multi-criteria optimization of the four-finger gripper mechanism." Robotics and Technical Cybernetics 8, no. 4 (December 30, 2020): 276–86. http://dx.doi.org/10.31776/rtcj.8404.
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Three posterior algorithms NSGA-II, MOGWO and MOPSO to solve the problem of multicriteria optimization of the robotic gripper design are considered. The description of the kinematic model of the developed prototype of the four-fingered gripper for picking tomatoes, its limitations and objective functions used in the optimization of the design are given. The main advantage of the developed prototype is the use of one actuator for the control of the fingers and the suction nozzle. The results of optimization of the kinematic model and the dimensions of the elements of robotic gripper using the considered posterior algorithms are presented.
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Semjon, Jan, and Martin Kočan. "PROPOSAL OF ROBOTIZED CELL WITH ROBOT KUKA KR 6 FOR EDUCATIONAL PURPOSES." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 4(18) (2019): 49–54. http://dx.doi.org/10.25140/2411-5363-2019-4(18)-49-54.
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Urgency of the research. The issue of using robotic workplaces for training students of technical fields is highly topical. It makes it possible to increase the labour market participation of students not only for the needs of the present, but also for the future. The design and implementation of an educational robotized workplace make it possible to prepare students according to their needs and current knowledge. Target setting. The aim of the solution is to design an educational workplace for handling, equipped with a Kuka KR6 robot and pneumatic effector. The three-finger effector from SMC allows you to hold and carry objects with a maximum clamping force of 130 N. At the same time, the workplace allows you to place handling objects in a total of 32 positions. Actual scientific researches and issues analysis. The deployment of angular industrial robots has also penetrated into other areas of industry where their use was only sporadic. This creates the need for additional personnel able to program the robot and set the technology for a specific issue of the robotized workplace. Uninvestigated parts of general matters defining. Improvement of students' knowledge or retraining of employees creates preconditions for their better application in technical practice. The ability to realize customized programs on industrial robots currently deployed in industry prepares students to perform their work without the need for further training, saving costs and time for employers. The research objective. The aim of the research was to design an educational robotized workplace in order to prepare students according to the specific needs of employers. The workplace allows the use of other pneumatic grippers, while it is possible to connect a total of 16 inputs and outputs for the use of other peripheral devices. The robot can also be used to create a program in an ROS environment, which in turn creates the need to use a Kinect device to detect not oriented components. The statement of basic materials. The use of the robot, whose control system KR C4 is one of the most modern, allows students to prepare for the needs of practice in the nearest future. After completing the training, the student is able to program on-line Kuka robots for industrial use. Conclusions. The article focuses on the design and creation of a training robotized workplace for creating programs using a pneumatic gripper. The design and use of the chessboard makes it possible to create a large number of possible combinations for training purposes. This creates a good precondition for adapting training to the specific needs of trained groups. The use of horizontal and inclined plane will teach students how to use the co-ordinate system of the tool or external base when programming. For this reason, programming the movement of the robot along the correct trajectory is more complex and improves the spatial perception of the students in the robot workspace.
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Telegenov, Kuat, Yedige Tlegenov, Shahid Hussain, and Almas Shintemirov. "Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism." Journal of Robotics and Mechatronics 27, no. 5 (October 20, 2015): 496–503. http://dx.doi.org/10.20965/jrm.2015.p0496.
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<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/05.jpg"" width=""300"" /> A robotic end effector prototype</div> Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research in robot manipulation of objects for industrial and service applications. Kinematic models of the finger and the breakaway clutch mechanisms are analyzed aiming to define selection criteria of design parameters. Grasping performance of the end effector prototype manufactured with a 3D printing technology and off-the-shelf components is evaluated using simulation and experimental analyses. Comparison with widely applied available robotic end effectors shows the potential advantages of the proposed end effector design. </span>
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Estay, Danilo, Alvaro Basoalto, Jorge Ardila, Matías Cerda, and Rodrigo Barraza. "Development and Implementation of an Anthropomorphic Underactuated Prosthesis with Adaptive Grip." Machines 9, no. 10 (September 24, 2021): 209. http://dx.doi.org/10.3390/machines9100209.
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This paper describes the design of a prosthetic hand for wrist amputations. The mechanism considers the use of three actuators: one each for the movement of the little finger, annular finger, and middle finger. The second actuator controls the index finger, and the third controls the thumb. The prototype is considered relevant as it is able to move the distal phalanx in all fingers; the little, annular, and middle fingers are able to adapt to the shape of the object being gripped (adaptive grip). The sequence of movements achieved with the thumb emulate the opposition/reposition and flexion/extension movements, commanded by a single actuator. The proposed design was built by additive manufacturing and effortlessly achieves a large number of grips. Additionally, the prosthesis could perform specific movements, such as holding a needle, although this grip demands higher precision in the control of the fingers. Due to the manufacturing method, the prosthesis weighs only 200 g, increasing to 450 g when the actuators are included, therefore weighing less than an average adult’s hand.
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Mishra, Anand K., Thomas J. Wallin, Wenyang Pan, Patricia Xu, Kaiyang Wang, Emmanuel P. Giannelis, Barbara Mazzolai, and Robert F. Shepherd. "Autonomic perspiration in 3D-printed hydrogel actuators." Science Robotics 5, no. 38 (January 29, 2020): eaaz3918. http://dx.doi.org/10.1126/scirobotics.aaz3918.
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In both biological and engineered systems, functioning at peak power output for prolonged periods of time requires thermoregulation. Here, we report a soft hydrogel-based actuator that can maintain stable body temperatures via autonomic perspiration. Using multimaterial stereolithography, we three-dimensionally print finger-like fluidic elastomer actuators having a poly-N-isopropylacrylamide (PNIPAm) body capped with a microporous (~200 micrometers) polyacrylamide (PAAm) dorsal layer. The chemomechanical response of these hydrogel materials is such that, at low temperatures (<30°C), the pores are sufficiently closed to allow for pressurization and actuation, whereas at elevated temperatures (>30°C), the pores dilate to enable localized perspiration in the hydraulic actuator. Such sweating actuators exhibit a 600% enhancement in cooling rate (i.e., 39.1°C minute−1) over similar non-sweating devices. Combining multiple finger actuators into a single device yields soft robotic grippers capable of both mechanically and thermally manipulating various heated objects. The measured thermoregulatory performance of these sweating actuators (~107 watts kilogram−1) greatly exceeds the evaporative cooling capacity found in the best animal systems (~35 watts kilogram−1) at the cost of a temporary decrease in actuation efficiency.
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Brown, Alan S. "Why Hands Matter." Mechanical Engineering 130, no. 07 (July 1, 2008): 24–29. http://dx.doi.org/10.1115/1.2008-jul-1.
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This paper illustrates various aspects of technological advancements in designs and functioning of prosthetic hands. Schunk, a top supplier of robotic grippers, believes humanoid hands will make robots more flexible and eliminate tens of thousands of dollars’ worth of auxiliary equipment. Shadow Robot's hand can grip an egg or a pair of pliers. The company is building hands that mimic human motion for service robots, which will act like valets to perform a variety of tasks for their masters. With a hand, a robot could determine if it could get to a part and then configure its hand to get to the location and grasp the part. Touch Bionics’s i-LIMB hand combines an independently powered thumb and index finger with three fingers that move in unison. Muscle contractions in the forearm control its movement. It can peel a banana, lifting a credit card off a table, or holding a briefcase. It is expected that surgeons in hospitals may use robotic humanoid hands to perform delicate operations in remote locations.
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Gao, Yuan, Xiguang Huang, Ishan Singh Mann, and Hai-Jun Su. "A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming." Journal of Mechanisms and Robotics 12, no. 5 (June 5, 2020). http://dx.doi.org/10.1115/1.4047156.
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Abstract In this paper, we present a novel compliant robotic gripper with three variable stiffness fingers. While the shape morphing of the fingers is cable-driven, the stiffness variation is enabled by layer jamming. The inherent flexibility makes compliant gripper suitable for tasks such as grasping soft and irregular objects. However, their relatively low load capacity due to intrinsic compliance limits their applications. Variable stiffness robotic grippers have the potential to address this challenge as their stiffness can be tuned on demand of tasks. In our design, the compliant backbone of finger is made of 3D-printed PLA materials sandwiched between thin film materials. The workflow of the robotic gripper follows two basic steps. First, the compliant skeleton is driven by a servo motor via a tension cable and bend to a desired shape. Second, upon application of a negative pressure, the finger is stiffened up because friction between contact surfaces of layers that prevents their relative movement increases. As a result, their load capacity will be increased proportionally. Tests for stiffness of individual finger and load capacity of the robotic gripper are conducted to validate capability of the design. The results showed a 180-fold increase in stiffness of individual finger and a 30-fold increase in gripper’s load capacity.
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Wu, Zhaoping, Xiaoning Li, and Zhonghua Guo. "A Novel Pneumatic Soft Gripper with a Jointed Endoskeleton Structure." Chinese Journal of Mechanical Engineering 32, no. 1 (September 23, 2019). http://dx.doi.org/10.1186/s10033-019-0392-0.
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Abstract In current research on soft grippers, pneumatically actuated soft grippers are generally fabricated using fully soft materials, which have the advantage of flexibility as well as the disadvantages of a small gripping force and slow response speed. To improve these characteristics, a novel pneumatic soft gripper with a jointed endoskeleton structure (E-Gripper) is developed, in which the muscle actuating function has been separated from the force bearing function. The soft action of an E-Gripper finger is performed by some air chambers surrounded by multilayer rubber embedded in the restraining fiber. The gripping force is borne and transferred by the rigid endoskeleton within the E-Gripper finger. Thus, the gripping force and action response speed can be increased while the flexibility is maintained. Through experiments, the bending angle of each finger segment, response time, and gripping force of the E-Gripper have been measured, which provides a basis for designing and controlling the soft gripper. The test results have shown that the maximum gripping force of the E-Gripper can be 35 N, which is three times greater than that of a fully soft gripper (FS-Gripper) of the same size. At the maximum charging pressure of 150 kPa, the response time is 1.123 s faster than that of the FS-Gripper. The research results indicate that the flexibility of a pneumatic soft gripper is not only maintained in the case of the E-Gripper, but its gripping force is also obviously increased, and the response time is reduced. The E-Gripper thus shows great potential for future development and applications.
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Kakogawa, Atsushi, Yuki Kaizu, and Shugen Ma. "Sensor-Less and Control-Less Underactuated Grippers With Pull-In Mechanisms for Grasping Various Objects." Frontiers in Robotics and AI 8 (February 22, 2021). http://dx.doi.org/10.3389/frobt.2021.631242.
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This paper proposes an underactuated grippers mechanism that grasps and pulls in different types of objects. These two movements are generated by only a single actuator while two independent actuators are used in conventional grippers. To demonstrate this principle, we have developed two kinds of gripper by different driving systems: one is driven by a DC motor with planetary gear reducers and another is driven by pneumatic actuators with branch tubes as a differential. Each pulling-in mechanism in the former one and the latter one is achieved by a belt-driven finger surface and a linear slider with an air cylinder, respectively. The motor-driven gripper with planetary gear reducers can pull-up the object after grasping. However, the object tends to fall when placing because it opens the finger before pushing out the object during the reversed movement. In addition, the closing speed and the picking-up speed of the fingers are slow due to the high reduction gear. To solve these drawbacks, a new pneumatic gripper by combining three valves, a speed control valve, a relief valve, and non-return valves, is proposed. The proposed pneumatic gripper is superior in the sense that it can perform pulling-up after grasping the object and opening the fingers after pushing-out the object. In the present paper, a design methodology of the different underactuated grippers that can not only grasp but also pull up objects is discussed. Then, to examine the performance of the grippers, experiments were conducted using various objects with different rigidity, shapes, size, and mass, which may be potentially available in real applications.
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Lokman, Nor Anis Aneza, Hamzah Ahmad, and Mohd Razali Daud. "DESIGN AND ANALYSIS OF FLC AND FEEDBACK CONTROL FOR THREE FINGER GRIPPER SYSTEM." Jurnal Teknologi 78, no. 10-4 (October 30, 2016). http://dx.doi.org/10.11113/jt.v78.9892.
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This paper presents the fuzzy logic design and control for three finger gripper system to grasp an object. Two objectives are mainly considered in this work, which are the analysis of different membership types and the gripper performance with feedback and without feedback control to support current research findings. The comparison is also including different number of rules analysis as well as the fuzzy membership types. The simulation and analysis are carried by using MATLAB Simulink and SimMechanics toolboxes to analyze the system performance. The result shows that the gripper system with trapezoidal memberships achieved faster response and good grasp. Besides that, the proposed system with feedback has produced the best result to grasp the object with suitable torques and angles in comparison to the non-feedback gripper system.
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Yang, Yang, Yonghua Chen, Ying Wei, and Yingtian Li. "Novel Design and Three-Dimensional Printing of Variable Stiffness Robotic Grippers." Journal of Mechanisms and Robotics 8, no. 6 (September 8, 2016). http://dx.doi.org/10.1115/1.4033728.
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In this paper, a novel robotic gripper design with variable stiffness is proposed and fabricated using a modified additive manufacturing (hereafter called 3D printing) process. The gripper is composed of two identical robotic fingers and each finger has three rotational degrees-of-freedom as inspired by human fingers. The finger design is composed of two materials: acrylonitrile butadiene styrene (ABS) for the bone segments and shape-memory polymer (SMP) for the finger joints. When the SMP joints are exposed to thermal energy and heated to above their glass transition temperature (Tg), the finger joints exhibit very small stiffness, thus allow easy bending by an external force. When there is no bending force, the finger will restore to its original shape thanks to SMP's shape recovering stress. The finger design is actuated by a pneumatics soft actuator. Fabrication of the proposed robotic finger is made possible by a modified 3D printing process. An analytical model is developed to represent the relationship between the soft actuator's air pressure and the finger's deflection angle. Furthermore, analytical modeling of the finger stiffness modulation is presented. Several experiments are conducted to validate the analytical models.
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Liu, Chih-Hsing, Chen-Hua Chiu, Ta-Lun Chen, Tzu-Yang Pai, Mao-Cheng Hsu, and Yang Chen. "Topology Optimization and Prototype of a Three-Dimensional Printed Compliant Finger for Grasping Vulnerable Objects With Size and Shape Variations." Journal of Mechanisms and Robotics 10, no. 4 (May 31, 2018). http://dx.doi.org/10.1115/1.4039972.
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This study presents a topology optimization method to synthesize an innovative compliant finger for grasping objects with size and shape variations. The design domain of the compliant finger is a trapezoidal area with one input and two output ports. The topology optimized finger design is prototyped by three-dimensional (3D) printing using flexible filament, and be used in the developed gripper module, which consists of one actuator and two identical compliant fingers. Both fingers are actuated by one displacement input, and can grip objects through elastic deformation. The gripper module is mounted on an industrial robot to pick and place a variety of objects to demonstrate the effectiveness of the proposed design. The results show that the developed compliant finger can be used to handle vulnerable objects without causing damage to the surface of grasped items. The proposed compliant finger is a monolithic and low-cost design, which can be used to resolve the challenge issue for robotic automation of irregular and vulnerable objects.
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Martell, Michael J., J. C. Díaz, and Joshua A. Schultz. "A Linear Multiport Network Approach for Elastically Coupled Underactuated Grippers." Journal of Mechanisms and Robotics 9, no. 5 (August 23, 2017). http://dx.doi.org/10.1115/1.4037566.
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This paper presents a framework based on multiport network theory for modeling underactuated grippers where the actuators produce finger motion by deforming an elastic transmission mechanism. If the transmission is synthesized from compliant components joined together with series (equal force) or parallel (equal displacement) connections, the resulting multiport immittance (stiffness) matrix for the entire transmission can be used to deduce how the object will behave in the grasp. To illustrate this, a three-fingered gripper is presented in which each finger is driven by one of two linear two-port spring networks. The multiport approach predicts contact force distribution with good fidelity even with asymmetric objects. The parallel-connected configuration exhibited object rotation and was more prone to object ejection than the series-connected case, which balanced the contact forces evenly.
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Kultongkham, Asiwan, Supakit Kumnon, Tawan Thintawornkul, and Teeranoot Chanthasopeephan. "The design of a force feedback soft gripper for tomato harvesting." Journal of Agricultural Engineering 52, no. 1 (March 18, 2021). http://dx.doi.org/10.4081/jae.2021.1090.
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In smart farming, both artificial intelligence and robotic systems are applied in order to improve efficiency. In agriculture, for jobs such as seeding, monitoring, and harvesting, robots are widely used. When using robots to harvest fruit and vegetables, it is essential not to apply excessive force, as it may damage the harvest. In this paper, a soft robotic three-fingered gripper is presented. It was designed and analysed using the finite element method. Each finger is made of silicone rubber. The shape of the finger is designed so that it is capable of handling spherical shaped objects, such as tomatoes or oranges. When holding a tomato, the fingers apply the contact force. The fingers are actuated pneumatically and the force applied is also controlled by a micro controller. The pressure inside the air chamber of the finger is in the range of 0- 95 kPa. Force sensors are attached to the end of each finger to provide force feedback. Then, the holding force is adjusted and applied to the surface of the tomato. The gripper can successfully grasp tomatoes with a force less than the bio-yield of the tomatoes 2.57 N.
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Shi, Kai, Huayi Zheng, Jun Li, and Gang Bao. "Study on the Articulated Finger Based on Pneumatic Soft Joint." International Journal of Fluid Power, May 31, 2021. http://dx.doi.org/10.13052/ijfp1439-9776.2226.
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This article described a novel pneumatic soft joint used to make articulated soft fingers. This soft joint was designed by improving the basic structure of the fast pneumatic network. The joint was made of high modulus E630 silicon, which can increase the reverse exhaust speed through its high structural elasticity. Aramid fabric was used to restrain the non-working direction of joints to reduce ineffective expansion, thereby reducing air consumption. The kinematics and statics model of the joint was established by the piecewise constant curvature (PCC) method, and the model was proved to be effective. The silicone staging pouring process was used in the manufacture of joints and fingers, which can achieve high-quality product rates. A soft finger actuator composed of three soft joints was designed and manufactured, whose length was 1.3 times the human finger. The finger can nimbly achieve the target motion, and the gripping force of the fingertip can reach 7.1N. The articulated soft finger actuator has applications in soft dextrous hands and soft gripper.
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Zhang, Wei, Saad Ahmed, Jonathan Hong, Zoubeida Ounaies, and Mary Frecker. "A two-stage design optimization framework for multifield origami-inspired structures." Journal of Intelligent Material Systems and Structures, May 10, 2021, 1045389X2110116. http://dx.doi.org/10.1177/1045389x211011659.
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Different types of active materials have been used to actuate origami-inspired self-folding structures. To model the highly nonlinear deformation and material responses, as well as the coupled field equations and boundary conditions of such structures, high-fidelity models such as finite element (FE) models are needed but usually computationally expensive, which makes optimization intractable. In this paper, a computationally efficient two-stage optimization framework is developed as a systematic method for the multi-objective designs of such multifield self-folding structures where the deformations are concentrated in crease-like areas, active and passive materials are assumed to behave linearly, and low- and high-fidelity models of the structures can be developed. In Stage 1, low-fidelity models are used to determine the topology of the structure. At the end of Stage 1, a distance measure [Formula: see text] is applied as the metric to determine the best design, which then serves as the baseline design in Stage 2. In Stage 2, designs are further optimized from the baseline design with greatly reduced computing time compared to a full FEA-based topology optimization. The design framework is first described in a general formulation. To demonstrate its efficacy, this framework is implemented in two case studies, namely, a three-finger soft gripper actuated using a PVDF-based terpolymer, and a 3D multifield example actuated using both the terpolymer and a magneto-active elastomer, where the key steps are elaborated in detail, including the variable filter, metrics to select the best design, determination of design domains, and material conversion methods from low- to high-fidelity models. In this paper, analytical models and rigid body dynamic models are developed as the low-fidelity models for the terpolymer- and MAE-based actuations, respectively, and the FE model of the MAE-based actuation is generalized from previous work. Additional generalizable techniques to further reduce the computational cost are elaborated. As a result, designs with better overall performance than the baseline design were achieved at the end of Stage 2 with computing times of 15 days for the gripper and 9 days for the multifield example, which would rather be over 3 and 2 months for full FEA-based optimizations, respectively. Tradeoffs between the competing design objectives were achieved. In both case studies, the efficacy and computational efficiency of the two-stage optimization framework are successfully demonstrated.