An optimum synthesis for gripping mechanisms by using natural coordinates

Abstract

In this paper a simple and efficient procedure for optimum dimensional synthesis of gripping mechanisms is presented. The proposed design method is based on a suitable formulation of grasping performance of gripping mechanisms and makes use of a description of mechanisms by means of natural (fully Cartesian) coordinates. The optimization design problem is formulated by an objective function describing the main grasping performance and constraints prescribing practical design requirements and mechanism peculiarities. A numerical example is reported and discussed to illustrate the engineering feasibility of the proposed design procedure.