Topology-shape-size optimization design synthesis of compliant grippers for robotics: A comprehensive review and prospective advances

Compliant grippers have been playing a critically important role in robotics and autonomous systems. This review explores the utilization of topology, shape, and size optimization strategies in the conceptualization and advancement of compliant grippers. More than the two last decades, it highlights significant progress in structural optimization techniques and their application within compliant gripper synthesis. The core methodologies include topology optimization for effective material distribution, shape optimization for refining geometries, and size optimization for enhancing dimensional efficiency. Such these design methods are analyzed alongside their computational complexities and real-world applications. Additionally, this review examines emerging trends such as hybrid optimization approaches and their capacity to address multi-objective challenges. By providing a detailed synthesis, this paper offers a valuable resource for engineers and researchers, shedding light on existing constraints and outlining prospective avenues for innovation in the design advancement and structural optimization of compliant grippers for the robotic and automation industry.