Design optimization of robotic gripper links using accelerated particle swarm optimization technique

Abstract

Robotic gripper plays a key player in the industrial robotics application such as pick and place, assembly, etc., and it is necessary to design and develop the best possible robotic gripper which needs a lot of mathematical formulation as well as analysis. In this paper, an optimized design of the robotic gripper is obtained using the accelerated PSO. The objective function of the robotic gripper developed is a complex, constraint optimization problem. For solving the problem, the developed two objective functions are used by the APSO with seven constraints. Seven decision variables are chosen to develop the objective function for the robotic gripper, and using APSO algorithm, the optimized best dimensions for the gripper configuration are obtained.