An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights

Autor:	Tanaka, Yusuke, Shirai, Yuki, Lacey, Zachary, Lin, Xuan, Liu, Jane, Hong, Dennis
Rok vydání:	2021
Předmět:	Computer Science - Robotics
Zdroj:	2110.00083 2021
Druh dokumentu:	Working Paper
Popis:	Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a whippletree mechanism, improving adaptability. We present a whippletree-based rigid under-actuated gripper and its parametric design multi-objective optimization for a one-wall climbing task. Our proposed objective function considers kinematics and grasping forces simultaneously with a mathematical metric based on a model of an object environment. Our multi-objective problem is formulated as a single kinematic objective function with auto-tuning force-based weight. Our results indicate that our proposed objective function determines optimal parameters and kinematic ranges for our under-actuated gripper in the task environment with sufficient grasping forces. Comment: Accepted for IROS 2021
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2110.00083 Zobrazit plný text záznamu View this record from Arxiv