Multi-Objective Design Optimization of a Bioinspired Underactuated Robotic Gripper Using Multi-Objective Grey Wolf Optimizer

被引:1
作者
Mahanta, Golak Bihari [1 ]
Rout, Amruta [1 ]
Gunji, Balamurali [1 ]
Deepak, B. B. V. L. [1 ]
Biswal, Bibhuti Bhusan [1 ]
机构
[1] NIT Rourkela, Dept Ind Design, Rourkela 769008, India
来源
ADVANCES IN MECHANICAL ENGINEERING, ICRIDME 2018 | 2020年
关键词
Underactuated; Gripper; Optimization; Anthropometric; Grey wolf optimization;
D O I
10.1007/978-981-15-0124-1_131
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This study presents the underactuated design of a tendon-driven bioinspired robotic gripper for the stable grasping. In this study, kinematic modeling of the bioinspired underactuated robotic gripper has been proposed and optimal design variables have been found out using multi-objective evolutionary algorithms. The obtained anthropometric data of the human hand is taken as the dimension range of the input design variables in the design optimization problem. In this study, the kinematic model of the proposed gripper is obtained, and the structural multi-objective optimization problem is formulated in the static condition of the gripper. Three fitness functions have developed from the contact forces, and some geometric constraints are considered for solving the proposed multi-objective optimization problem using multi-objective grey wolf optimization algorithm.
引用
收藏
页码:1497 / 1509
页数:13
相关论文
共 12 条
  • [1] [Anonymous], 2018, WORLDS 1 CERTIFIED H
  • [2] Birglen L., 2008, SPRINGER TRACTS ADV
  • [3] A statistical review of industrial robotic grippers
    Birglen, Lionel
    Schlicht, Thomas
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2018, 49 : 88 - 97
  • [4] Geometric design optimization of an under-actuated tendon-driven robotic gripper
    Dong, Huixu
    Asadi, Ehsan
    Qiu, Chen
    Dai, Jiansheng
    Chen, I-Ming
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2018, 50 : 80 - 89
  • [5] Huang YN, 2016, 2016 INTERNATIONAL WORKSHOP ON BIG DATA AND INFORMATION SECURITY (IWBIS), P1, DOI 10.1109/IWBIS.2016.7872881
  • [6] A Dexterous Robot Hand with a Bio-mimetic Mechanism
    Kim, Eun-Hye
    Lee, Seok-Won
    Lee, Yong-Kwun
    [J]. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2011, 12 (02) : 227 - 235
  • [7] KITECH-Hand: A Highly Dexterous and Modularized Robotic Hand
    Lee, Dong-Hyuk
    Park, Jae-Han
    Park, Sung-Woo
    Baeg, Moon-Hong
    Bae, Ji-Hun
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2017, 22 (02) : 876 - 887
  • [8] Lovchik CS, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P907, DOI 10.1109/ROBOT.1999.772420
  • [9] Mahanta G.B, 2018, DESIGN OPTIMIZATION
  • [10] Multi-objective grey wolf optimizer: A novel algorithm for multi-criterion optimization
    Mirjalili, Seyedali
    Saremi, Shahrzad
    Mirjalili, Seyed Mohammad
    Coelho, Leandro dos S.
    [J]. EXPERT SYSTEMS WITH APPLICATIONS, 2016, 47 : 106 - 119