Optimal design of a parallel robotic gripper using enhanced multi-objective ant lion optimizer with a sensitivity analysis approach

摘要

Purpose - From the past few decades, parallel grippers are used successfully in the automation industries for performing various pick and place jobs due to their simple design, reliable nature and its economic feasibility. So, the purpose of this paperis to design a suitable gripper with appropriate design parameters for better performance in the robotic production systems. Design/methodology/approach - In this paper, an enhanced multi-objective ant lion algorithm is introduced to find the optimal geometric and design variables of a parallel gripper. The considered robotic gripper systems are evaluated by considering three objective functions while satisfying eight constraint equations. The beta distribution function is introduced for generating the initial random number at the initialization phase of the proposed algorithm as a replacement of uniform distribution function. A local search algorithm, namely, achievement scalarizing function with multi-criteria decision-making technique and beta distribution are used to enhance the existing optimizer to evaluate the optimal gripper design problem. In this study, the newly proposed enhanced optimizer to obtain the optimum design condition of the design variables is called enhanced multi-objective ant lion optimizer. Findings - This study aims to obtain optimal design parameters of the parallel gripper with the help of the developed algorithms. The acquired results are investigated with the past research paper conducted in that field for comparison. It is observed that the suggested method to get the best gripper arrangement and variables of the parallel gripper mechanism outperform its counterparts. The effects of the design variables are needed to be studied for a better design approach concerning the objective functions, which is achieved by sensitivity analysis. Practical implications - The developed gripper is feasible to use in the assembly operation, as well as in other pick and place operations in different industries. Originality/value - In this study, the problem to find the optimum design parameter (i.e. geometric parameters such as length of the link and parallel gripper joint angles) is addressed as a multi-objective optimization. The obtained results from the execution of the algorithm are evaluated using the performance indicator algorithm and a sensitivity analysis is introduced to validate the effects of the design variables. The obtained optimal parameters are used to develop a gripper prototype, which will be used for the assembly process.