Design Optimization of Pivoting 3 Finger Robotic Gripper Links Parameter Using Genetic Algorithm Technique
Sagar Muduli, Pramod Kumar Parida, Rati Ranjan Dash
Sagar Muduli ,Pursuing M.Tech in Design and Dynamics in OUTR
Pramod Kumar Parida ,Professor of Mechanical engineering, OUTR
Rati Ranjan Dash ,Professor of Mechanical engineering, OUTR
ABSTRACT
Robot gripper design is an important field of research, due to its widespread use in automation. The two-finger gripper is intended for a specific pick and place operation. Its job is to choose a workpiece and position it correctly in a flexible manufacturing cell. While two-finger grippers provide benefits such as simplicity and low cost, three-finger grippers offer more flexibility, stability, dexterity, and manipulation control. Three-finger robotic grippers are a common choice for many advanced robotic applications needing a high degree of flexibility and object handling due to these advantages. The additional figure of gripper support the movement of object and better centering in pick and place operation. So, In this project, we consider a 3 finger robotics gripper. The actuator, however, had been seen as a blackbox in earlier studies. By including an actuator model in the robotic gripper issue, the system model has been altered. Consider a general actuation system that produces force, which is directly proportional to the input voltage. The individual actuator parts are placed in series and parallel arrays in four distinct configurations to represent the actuating system as a stack. A multi-objective evolutionary method is used to solve the modified two-objective problem, which also allows for the best determination of the size of robotic gripper links and joint angles. Each of the nondominated solutions yields a force-voltage relationship that aids the user in determining the appropriate voltage based on the application. Further innovative research is conducted to identify appropriate associations between the choice factors and the objective functions.
[Keywords-Gripper, NSGA, MOGA]
