Multicriteria Design Optimization of Robot Gripper Mechanisms

摘要

In the paper a design optimization problem of robot grippers is formulated. This problem has a multicriteria character in which there are six objective functions and several constraints. To solve the optimization model an evolutionary algorithm based method is proposed. First, the separately attainable minima of the objective functions are found. Next, in order to find the best compromised solution the weighting min-max approach is applied. Finally, the obtained optimal solution is compared with the commercial robot gripper B02 made by Global Modular Gripper (Germany). The comparison of the results shows that using the proposed method we can improve all the criteria.