Multi-objective design and analysis of robot gripper configurations using an evolutionary-classical approach

A multi-objective differential evolution approach based on ε-elimination uniform-diversity for mechanism design

“…In this way, for the same design variables of the gripper mechanism, the calculated cost functions of this work and of (Datta and Deb 2011) are compared in Table 8. As it can be seen from Table 8 there is no major deviation of objective function values of this work with those suggested by (Datta and Deb 2011).…”

“…As the previous case study, firstly, a simulation process performed based on an optimum design point obtained by (Datta and Deb 2011) to show that there are no differences in the evaluation of cost functions of this study and (Datta and Deb 2011). In this way, for the same design variables of the gripper mechanism, the calculated cost functions of this work and of (Datta and Deb 2011) are compared in Table 8.…”

“…The equations of gripper geometries and gripping force can be found in the Appendix 2. The complete formulation of the gripper could also be found in (Osyczka 2002;Datta and Deb 2011). For this problem two objective functions considered according to (Osyczka 2002;Datta and Deb 2011).…”

“…The complete formulation of the gripper could also be found in (Osyczka 2002;Datta and Deb 2011). For this problem two objective functions considered according to (Osyczka 2002;Datta and Deb 2011). The first objective function is the difference between maximum and minimum gripping force exerted at the tip of gripper for the assumed range of gripper ends displacement and described by, The second objective function is the force transmission ratio between actuating force P, which is applied at the left side of the gripper and the minimum force exerted at the gripper ends and can be shown as,…”

“…Lanni suggested an optimum design of two finger robot gripper mechanism using multi-objective optimization and performed a case study using 8R2P linkage (Lanni and Ceccarelli 2009). Datta and Deb proposed the determination of optimum forces to be extracted on robot grippers on the surface of a grasped rigid object to guarantee the stability of the grasping procedure without causing defect or damage to the grasped object (Datta and Deb 2011). They have proposed solving a multi-criteria optimization of robot gripper design problem with two different configurations involving two conflicting objectives and a number of constraints.…”