An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights
Yusuke Tanaka,Yuki Shirai,Zachary Lacey,Xuan Lin,Jane Liu,Dennis Hong,Yusuke Tanaka,Yuki Shirai,Zachary Lacey,Xuan Lin,Jane Liu,Dennis Hong
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a whippletree mechanism, improving adaptability. We present a whippletree-based rigid under-actuated gripper and its parametric design multi-objective optimization for ...
