Optimal design of robot gripper mechanism using force and displacement transmission ratio / Stanisław Krenich // W: Industrial and Service Robotics : selected, peer reviewed papers from the 13th International ... więcej

Optimal design of robot gripper mechanism using force and displacement transmission ratio / Stanisław Krenich // W: Industrial and Service Robotics : selected, peer reviewed papers from the 13th International Conference on Industrial, Service and Humanoid Robotics (ROBTEP 2014), May 15-17, High Tatras, Slovakia [Dokument elektroniczny] / ed. by Mikulas Hajduk, Lucia Koukolova. – Switzerland : Trans Tech Publications Ltd, 2014. – (Applied Mechanics and Materials, ISSN 1660-9336 ; 613). – S. 117-125. – Tryb dostępu: http://www.scientific.net/AMM.613.117. – Abstr. – doi: 10.4028/www.scientific.net/AMM.613.117. – ISBN 978-3-03826-585-6 (ebook). – ISBN 978-3-03835-202-0 (print)

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. ... więcej

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.