5.
PROBLEM FORMULATION
For any optimization problem, the problem formulation is the first and foremost step. In the case
of design optimization of force of robot gripper, the problem is formulated as follows.
Consider the example of robot gripper the scheme of which is presented in Fig5.1
Figure 5-1 The scheme of robot dripper mechanism
5.1 Objective function
In this problem the following objective functions are considered
1.
the function which describes the difference between maximum and minimum griping
forces for the assumed range of the gripper ends displacements
(5.6)
2. .
the function which describes the force transmission ratio between the gripper actuator
and the gripper ends
--
3.
(5.7)
the function which describes the shift transmission ratio between the gripper actuator
and the gripper ends.
(5.8)
4.
: the function which describes the lengths of all the elements of the gripper.
(5.9)
5.
:the function which describes the efficiency of the gripper mechanism
(5.10 )
The problem contains five objective functions it is necessary to find the combined objective
function, by introducing weight age factors it can be done in three cases
In the first case the combined objective function has the first two objective function.In the
second case the combined objective function has the last three objects functions.In the third case
the combined objective function has all the five objective functions
For the first case
For the second cas
For third case
Where
The objective functions
are minimization functions while
maximization function
are the weightage factors for objective functions
respectively
is
are the normalizing parameters to bring all
objective functions in the same decimal point and unitless
5.2 Design variables
The upper and lower bounds on two design variables are
1.
2.
3.
4.
5.
6.
7.
10 a 150
10 b 150
100 c 200
0 e 50
10 f 150
100 l 300
1 3.14
5.3 Design constraints
From the geometry of gripper the following constraints can be derived
Where
Displacement of the gripper end,
Minimal dimension of the gripper,
=50 mm
Maximal dimension of the gripper,
=100 mm
Maximal range of the gripper ends displacement,
=150 mm
Maximal displacement of the gripper actuator.
=100 mm
Actuating force, P = 100 N
(5.5)
( 5.2)
(5.3)
(5.1)
Note: Along with those constaints please consider take some constraints
such that
COS and Tan functions exists.