In this paper, an analysis of mechanisms in two-finger grippers has been discussed to formulate an optimumdesign procedure. The design problem has been approached and formulated as a new optimization problem by usingfundamental characteristics of grasping mechanisms. In particular, in order to optimize a mechanism for two-fingergripper, an original multi-objective optimum algorithm has been used by considering four different objective functions,such as grasping index, encumbrance of grasping mechanism, acceleration and velocity for finger gripper with respect tothe imposed working area. A case study has been reported by using an 8R2P linkage for a proposed two-finger grippermechanism. Numerical example has been computed to show the soundness of the proposed new optimum designprocedure by referring to computational and practical results.
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