Optimization of a Hybrid Two-Fingered Micro Hand Using Genetic Algorithms

  title={Optimization of a Hybrid Two-Fingered Micro Hand Using Genetic Algorithms},
  author={A. A. Ramadan and Tatsuo Arai and Tomohito Takubo and Kazumichi Inoue},
  journal={2008 International Symposium on Micro-NanoMechatronics and Human Science},
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… CONTINUE READING


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