Optimization of a hybrid two-fingered micro hand using genetic algorithms

Ahmed A. Ramadan, Tatsuo Arai, Tomohito Takubo, Kenji Inoue

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics"
Pages103-107
Number of pages5
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 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" - Nagoya, Japan
Duration: 6 Nov 20089 Nov 2008

Publication series

Name2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008

Conference

Conference2008 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"
Country/TerritoryJapan
CityNagoya
Period6/11/089/11/08

Keywords

  • Genetics and evolutionary algorithms
  • Hybrid structure mechanisms
  • Micromanipulator hand

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Ramadan, A. A., Arai, T., Takubo, T., & Inoue, K. (2008). Optimization of a hybrid two-fingered micro hand using genetic algorithms. In 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, with Symposium on "COE for Education and Research of Micro-Nano Mechatronics" (pp. 103-107). Article 4752431 (2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008). https://doi.org/10.1109/MHS.2008.4752431