An Optimization Problem Algorithm for Kinematic Design of Mechanisms for Two-Finger Grippers
Chiara Lanni , Marco Ceccarelli
Identifiers and Pagination:Year: 2009
First Page: 49
Last Page: 62
Publisher Id: TOMEJ-3-49
Article History:Electronic publication date: 11/6/2009
Collection year: 2009
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
In this paper, an analysis of mechanisms in two-finger grippers has been discussed to formulate an optimum design procedure. The design problem has been approached and formulated as a new optimization problem by using fundamental characteristics of grasping mechanisms. In particular, in order to optimize a mechanism for two-finger gripper, an original multi-objective optimum algorithm has been used by considering four different objective functions, such as grasping index, encumbrance of grasping mechanism, acceleration and velocity for finger gripper with respect to the imposed working area. A case study has been reported by using an 8R2P linkage for a proposed two-finger gripper mechanism. Numerical example has been computed to show the soundness of the proposed new optimum design procedure by referring to computational and practical results.