TY - GEN
T1 - Optimization of a hybrid two-fingered micro hand using genetic algorithms
AU - Ramadan, Ahmed A.
AU - Arai, Tatsuo
AU - Takubo, Tomohito
AU - Inoue, Kenji
PY - 2008
Y1 - 2008
N2 - The optimization and design process of a two-fingered micro hand that uses a hybrid motion mechanism is presented. The hybrid hand consists of two 3-PRS parallel modules - upper and lower - connected serially back to back in a mirror image style. It is driven by piezo-electric actuators and has two long glass petites as end effectors. The most important part in the development process is the optimization of the design parameters. It is carried out using discretization method and Genetics and Evolutionary Algorithms (GEAs) for the theoretical model. The GEAs has superior behaviour than discretization method but the genetically optimized design parameters are difficult to be practically implemented with high accuracy. Then a complementary optimization for the web thickness of the pin flexure hinge is done to build the final CAD model. The practical implementation for the micro hand prototype and its practical calibration algorithm is presented. As a target application, use of developed micro hand in the setup of micro-injection experiment is briefly described.
AB - The optimization and design process of a two-fingered micro hand that uses a hybrid motion mechanism is presented. The hybrid hand consists of two 3-PRS parallel modules - upper and lower - connected serially back to back in a mirror image style. It is driven by piezo-electric actuators and has two long glass petites as end effectors. The most important part in the development process is the optimization of the design parameters. It is carried out using discretization method and Genetics and Evolutionary Algorithms (GEAs) for the theoretical model. The GEAs has superior behaviour than discretization method but the genetically optimized design parameters are difficult to be practically implemented with high accuracy. Then a complementary optimization for the web thickness of the pin flexure hinge is done to build the final CAD model. The practical implementation for the micro hand prototype and its practical calibration algorithm is presented. As a target application, use of developed micro hand in the setup of micro-injection experiment is briefly described.
KW - Genetics and evolutionary algorithms
KW - Hybrid structure mechanisms
KW - Micromanipulator hand
UR - http://www.scopus.com/inward/record.url?scp=62449166406&partnerID=8YFLogxK
U2 - 10.1109/MHS.2008.4752431
DO - 10.1109/MHS.2008.4752431
M3 - Conference contribution
AN - SCOPUS:62449166406
SN - 9781424429196
T3 - 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008
SP - 103
EP - 107
BT - 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics"
T2 - 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "System Cell Engineering by Multi-scale Manipulation"
Y2 - 6 November 2008 through 9 November 2008
ER -