握り心地を評価可能な把持動作シミュレーションを用いた把持部形状最適化手法の検討

抄録

In this study, we developed a grasping motion simulation that is able to reproduce grasping motion and evaluate gripping comfort. Then, we proposed a shape optimization method using the simulation to search for a gripping part design that is comfortable to grasp. Topology optimization, which used element density as the design variable, was adopted to obtain an optimized shape for the gripping part. The initial shape was a cylinder FE model. The contact pressure concentration level, which has a negative correlation with gripping comfort, was set as an objective function to maximize the gripping comfort. A realistic contact pressure values during grasping a cylindrical object obtained from previous experimental study were set as constraint conditions to prevent an excessive contact pressure. The simulation result indicated low element density at the parts where contacts with the fingertips of the index finger and the middle finger occurred. In addition, high element density was observed at the part where contact with the proximal part of the palm occurred.