Space gripper configuration and its dimension synthesis based on genetic algorithm

• 作 者: 朱映远
• 机 构: Robotics Institute,Harbin Institute of Technology,Harbin 150001,P.R.China,
• 出 处: High Technology Letters
• 发表日期: 2008年03期
• 关键词: kinematics finger symmetrical robot specialist fitness created constraints optim

The special fingers of the gripper on the space robot have been developed based on genetic algorithmfor the space application.Therefore,the symmetrical wedgelike finger composed of the 4-1ink mechanismand the relevant track were designed.To decrease the weight and optimize the kinematics and grip force,the compositive fitness function for dynamics and kinematics was created.The calculation efficiency couldbe improved by novel methods which overcame the problem of too many constraints in the solution space,such as introducing the specialist’s experience and punishment function and simplifying the variables.The solutions show that the optimized finger could perform well and the methods were effectual.

The special fingers of the gripper on the space robot have been developed based on genetic algorithm for the space application.Therefore, the symmetrical wedgelike finger composed of the 4-1ink mechanismand the relevant track were designed.To decrease the weight and optimize the kinematics and grip force, the compositive fitness function for dynamics and kinematics was created. The calculation efficiency could be improved by novel methods which overcame the problem of too many constraints in the solution space, such as introducing the specialist’s experience and punishment function and simplifying the variables. solutions show that the optimized finger could perform well and the methods were effectual.