TY - JOUR
TI - Calculating geometric parameters for industrial robot gripper mechanism according to the assumed functional characteristics
AU - Krenich, Stanisław
TI - Calculating geometric parameters for industrial robot gripper mechanism according to the assumed functional characteristics
AB - 
	The paper presents an approach to optimal synthesis of robot gripper mechanism. There are two different patterns of force and displacement functional characteristics applied. The first one deals with the assumed linear or nonlinear displacement of the gripper ends, whereas the second one takes under consideration the constant value or nonlinear chart of the gripping force. In order to generate the optimal solutions a gradient based method, a random search method and an evolutionary algorithm are used. The obtained results show relatively good effectiveness of the proposed optimization approach in comparison to conventional methods of synthesis of linkage mechanisms. The best solutions were generated by the evolutionary algorithm based method; worse by the random search algorithm. Gradient based method fails during optimization process and should not be used for such type of problems, especially described by trigonometric functions.
VL - 2016
IS - Mechanics Issue 5-M (15) 2016
PY - 2016
SN - 0011-4561
C1 - 2353-737X
SP - 63
EP - 73
DO - 10.4467/2353737XCT.16.286.6118
UR - https://ejournals.eu/en/journal/czasopismo-techniczne/article/calculating-geometric-parameters-for-industrial-robot-gripper-mechanism-according-to-the-assumed-functional-characteristics
KW - industrial robots
KW - linkage mechanism synthesis
KW - design optimization
KW - evolutionary algorithms