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The purpose of this paper is to investigate the process of fused filament fabrication (FFF) of a compliant gripper (CG) using thermoplastic polyurethane (TPU) material. The paper studies the applicability of different CG designs and the efficiency of some design parameters.

After reviewing a number of different papers, two designs were selected for a number of exploratory experiments. Using design of experiments (DOE) techniques to identify important design parameters. Finally, the efficiency of the parts was investigated.

The research finds that a simpler design sacrifices some effectiveness in exchange for a remarkable decrease in production cost. Decreasing infill percentage of previous designs and 3D printing them, out of TPU, experimenting with different parameters yields functional products. Moreover, the paper identified some key parameters for further optimization attempts of such prototypes.

The cost of conducting FFF experiments for TPU increases dramatically with product size, number of parameters studied and the number of experiments. Therefore, all three of these factors had to be kept at a minimum. Further confirmatory experiments encouraged.

This paper addresses an identified need to investigate applications of FFF and TPU in manufacturing functional efficient flexible mechanisms, grippers specifically. While most research focused on designing for increased performance, some research lacks discussion on design philosophy, as well as manufacturing issues. As the needs for flexible grippers vary from high-performance grippers to lower performance grippers created for specific functions/conditions, some effectiveness can be sacrificed to reduce cost, reduce complexity and improve applicability in different robotic assemblies and environments.

There are few reports that evolutional topology optimization methods are applied to the conductor geometry design problems. This paper aims to propose an evolutional topology optimization method is applied to the conductor design problems of an on-chip inductor model.

This paper presents a topology optimization method for conductor shape designs. This method is based on the normalized Gaussian network-based evolutional on/off topology optimization method and the covariance matrix adaptation evolution strategy. As a target device, an on-chip planer inductor is used, and single- and multi-objective optimization problems are defined. These optimization problems are solved by the proposed method.

Through the single- and multi-objective optimizations of the on-chip inductor, it is shown that the conductor shapes of the inductor can be optimized based on the proposed methods.

The proposed topology optimization method is applicable to the conductor design problems in that the connectivity of the shapes is strongly required.