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

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 evolutionary algorithms (GEAs) for the theoretical model. The GEAs has superior behaviour than discretization method but the genetically optimized design parameters are difficult to be practically implemented with high accuracy. Then a complementary optimization for the web thickness of the pin flexure hinge is done to build the final CAD model. The practical implementation for the micro hand prototype and its practical calibration algorithm is presented. As a target application, use of developed micro hand in the setup of micro-injection experiment is briefly described.