Multi-criteria optimization of the four-finger gripper mechanism

Multi-criteria optimization of the four-finger gripper mechanism

Vu Duc Quyen
Saint-Petersburg Federal Research Center of the Russian Academy of Sciences, Laboratory of Autonomous Robotic Systems, 39, 14 line V.O., Saint-Petersburg, 199178, Russia; Saint-Petersburg State University of Aerospace Instrumentation (SUAI), Department of Electromechanics and Robotics, Postgraduate Student, 67-A, Bolshaya Morskaya str., Saint-Petersburg, 190000, Russia, tel.: +7(968)185-86-86, This email address is being protected from spambots. You need JavaScript enabled to view it.

Andrey L. Ronzhin
Doctor of Technical Science, Saint-Petersburg Federal Research Center of the Russian Academy of Sciences, Laboratory of Autonomous Robotic Systems, Professor, Director, 39, 14 line V.O., Saint-Petersburg, 199178, Russia, tel.: +7(911)253-24-32, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 21 September 2020

Abstract
Three posterior algorithms NSGA-II, MOGWO and MOPSO to solve the problem of multicriteria optimization of the robotic gripper design are considered. The description of the kinematic model of the developed prototype of the four-fingered gripper for picking tomatoes, its limitations and objective functions used in the optimization of the design are given. The main advantage of the developed prototype is the use of one actuator for the control of the fingers and the suction nozzle. The results of optimization of the kinematic model and the dimensions of the elements of robotic gripper using the considered posterior algorithms are presented.

Key words
Robotic gripper, multi-criteria optimization, NSGA-II, MOGWO, MOPSO, kinematic model.

Acknowledgements
The presented work was supported by the Russian Science Foundation (grant no. 16-19-00044П).

DOI
https://doi.org/10.31776/RTCJ.8404

Bibliographic description
Vu, Q. and Ronzhin, A., 2020. Multi-criteria optimization of the four-finger gripper mechanism. Robotics and Technical Cybernetics, 8(4), pp.276-286.

UDC identifier:
004.032.26

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