Optimization of Four Finger Robotic Hand using FEA

By S. S. Ohol, Sachin Karade and S. R. Kajale.

Published by The Technology Collection

Format Price
Article: Print $US10.00
Article: Electronic $US5.00

Shape Optimization through FEA (Finite Element Analysis) is new emerging field. It is very much necessary to shorten the developmental processes of new components. Virtual access through software tools helps for better planning by more realistic predictions. Hence tools are necessary which replaces the conventional development process via trial & error methods or via longer research by an automatic procedure in virtual environment. Limitations at accuracy of results in this type of predictions are limited only with appropriate selection of the various process parameters. Topology Optimization is a mathematical technique that produces an optimized shape and material distribution for a structure within a given package space. By discretizing the domain into a finite element mesh, FE Solver calculates material properties for each element. The Optimization algorithm alters the material distribution to optimize the user-defined objective under given constraints. In this work, the Multifingered Robotic Gripper ( MRG ) design is optimized using FEA technique to reduce the weight. The optimization results in significant weight reduction towards improving the performance the finger which will have sufficient compliance.

Keywords: Multifingered Robotic Gripper (MRG), Topology Optimization, FEA

The International Journal of Technology, Knowledge and Society, Volume 6, Issue 6, pp.187-202. Article: Print (Spiral Bound). Article: Electronic (PDF File; 1.740MB).

Dr. S. S. Ohol

Assistant Professor, Mechanical Engineering Department, College of Engineering, Pune, Pune, Maharashtra, India

Ph.D. (Mech) and faculty in Mechanical Engineering Department of College of Engineering, Pune. Industrial Experience of 1.7 Yrs. Teaching Experience of 14 Yrs. In charge of Robotics and Automation Laboratory in the Institute.

Sachin Karade

Senior Design Engineer, Whirlpool Appliances, College of Engineering, Pune, Pune, Maharashtra, India

PG scholar at College of Engineering, Pune. Industrial Experience of ~7 Yrs.

Dr. S. R. Kajale

Director, SGGS Institute of Engineering and Technology, Institute of Engineering & Technology, Nanded, Pune, Maharashtra, India

Ph.D. (CAD/CAM) IIT Kharagpur, Teaching experience of ~20 Yrs. Guided 5 Ph.D. in different universities. Presently Director of SGGS IE & T, Nanded, Maharashtra, INDIA.

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