One Dof Thumb Mechanism and It's Dimensional Optimization

Abstract

This paper involves the geometrical representation, kinematic solution and dimensional optimization of a one degree
of freedom parallel thumb mechanism. The aim of the designing of this mechanism grasping objects by mimicking of a human
thumb. Link length optimization of the mechanism are made around an average human thumb sizes by using Firefly Algorithm
which is a nature inspired optimization algorithm.

Keywords

• thumb mechanism,numerical synthesis,kinematic synthesis,parallel mechanisms,firefly algorithm

References

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