Le, Hung PhanMcGuinness, BenjaminVenter, ChristoffPrinz, EvaDuke, MikeLim, Shen HinSingh, Ajit Pal2026-08-182026-08-182025Le, H. P., McGuinness, B., Venter, C., Prinz, E., Duke, M., Lim, S. H., & Singh, A. P. (2025). Iterative design process of a robotic compliant gripper for kiwifruit harvesting using topology optimization. Australasian Conference on Robotics and Automation ACRA 2025, Perth, Western Australia, Australia. https://ssl.linklings.net/conferences/acra/acra2025_proceedings/views/includes/files/pap131s2.pdf1448-2053https://hdl.handle.net/10289/18553Compliant mechanisms offer distinct advantages for agricultural robotics by reducing weight, eliminating joints, and simplifying fabrication. This study presents a parameter-driven, iterative design approach for developing a two-finger compliant gripper for kiwifruit harvesting, utilising two-dimensional topology optimization in Altair OptiStruct (HyperWorks). Key design parameters including geometry, boundary conditions, compliance constraints, material volume fractions, and density thresholds, were systematically varied and evaluated using finite element analysis (FEA), rapid prototyping, and Digital Image Correlation (DIC) experiments for validation. Early iterations focused on displacement and stress behaviour, while later designs incorporated gripping force requirements identified from harvesting studies. The final prototype (G8) satisfied displacement, stiffness, and structural performance under load criteria, overcoming the limitations observed in earlier designs (G1–G7). These conclusions are based on simulation results, with experimental validation currently in progress. Overall, the work delivers the first parameter-performance map for compliant grippers in kiwifruit harvesting and offers practical design guidelines for future agricultural robotics, including alternative materials, advanced additive manufacturing, and field-based testing.enThis is a conference presentation from the proceedings of the Australasian Conference on Robotics and Automation (ACRA 2025). © 2025 The authors.Conference Contribution