Optimal Design of Robot Gripper Mechanism Using Force and Displacement Transmission Ratio

摘要

The paper presents an approach to design optimization of robot gripper mechanism. There are two different optimization criteria, a force transmission ratio and a displacement transmission ratio, considered. In order to generate the optimal solutions, three algorithms are applied. There are gradient based method, random search method and evolutionary algorithm used. The results and a comparison with the industrial gripper, show possibility to improve parameters of the gripper mechanism using optimization procedure. They show as well, that conventional algorithms often fail during optimization process and the most suitable methods in this case are evolutionary algorithms.