Application of Taguchi-based grey relational analysis to optimize gripper modelling

Abstract

The design of a gripper becomes a critical aspect of achieving decent grasping behavior in the actual application. This project aims to optimize a soft robot gripper design by utilizing a Taguchi-based Grey Relational Analysis (GRA) method to obtain multi-quality target optimization in deformation and tip maximal principal stress as a substitute for grasping force in actual application. Ansys in structural analysis simulation will be used to get these experiment data variables.