Robot gripper design is an active research area due to its wide spread applicability in automation, especially for high-precision micro-machining. This paper deals with a multiobjective optimization problem which is nonlinear, multimodal, and originally formulated. The previous work, however, had treated the actuator as a blackbox. The system model has been modified by integrating an actuator model into the robotic gripper problem. A generic actuation system (for example, a voice coil actuator) which generates force proportional to the applied voltage is considered. The actuating system is modeled as a stack consisting of the individual actuator elements arranged in series and parallel arrays in four different combinations. With the incorporation of voltage into the problem, which is related to both actuator force and manipulator displacement, the problem becomes more realistic and can be integrated with many reallife gripper simulations. Multiobjective evolutionary algorithm is used to solve the modified biobjective problem and to optimally find the dimensions of links and the joint angle of a robot gripper. A force voltage relationship can be obtained from each of the nondominated solutions which helps the user to determine the voltage to be applied depending on the application. An innovization study is further carried out to find suitable relationships between the decision variables and the objective functions.
DRE does detect cases of impaction not discernible by other means. Such a finding may be comparable between examiners. These children may be identified by other clinical characteristics. The clinical significance of such a finding needs more understanding from the standpoint of therapeutic choices.
Robot gripper design is an active research area due to its wide spread applicability in automation. The present work deals with the actuator analysis of a non-linear, multi-modal and multi-objective optimization problem which is originally formulated by Osyczka [1]. The previous work [1] had treated the actuator as a blackbox. In the present work, the formulation has been changed by incorporating actuator analysis into the robotic gripper problem. The piezoelectric actuating system is modeled as a stack consisting of the individual actuator elements arranged in series and parallel, leading to four different cases. With the incorporation of voltage as an input (it is related to both the actuator force and the manipulator displacement), the problem becomes more realistic and can be integrated with any real life situation. The relationships connecting the force developed and the voltage applied are arrived at by using the basic constitutive equations and the geometry of the problem. The future work aims to take up an existing optimization problem with actuator analysis and make it more realistic and wider in scope, by incorporating actuator analysis into it.
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