One Dof Thumb Mechanism and It's Dimensional Optimization

Yıl 2019, Cilt: 3 Sayı: 2, 131 - 134, 23.12.2019

Samet Yavuz

Öz

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.

Anahtar Kelimeler

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

Kaynakça

• Ceccarelli, Marco, Cristina Tavolieri, and Zhen Lu."Design considerations for underactuated grasp with aone DOF anthropomorphic finger mechanism." 2006IEEE/RSJ International Conference on IntelligentRobots and Systems. IEEE, 2006.[2] Guo, G., J. Zhang, and W. A. Gruver. "Optimal design ofa six-bar linkage with one degree of freedom for ananthropomorphic three-jointed finger mechanism."Proceedings of the Institution of Mechanical Engineers,Part H: Journal of Engineering in Medicine 207.3 (1993):185-190.[3] Gosselin, Clement M., and Thierry Laliberte."Underactuated mechanical finger with return actuation."U.S. Patent No. 5,762,390. 9 Jun. 1998.[4] Figliolini, Giorgio, and Marco Ceccarelli. "A novelarticulated mechanism mimicking the motion of indexfingers." Robotica 20.1 (2002): 13-22.[5] Ceccarelli, Marco, Nestor Eduardo Nava Rodriguez, andGiuseppe Carbone. "Design and tests of a three fingerhand with 1-DOF articulated fingers." Robotica 24.2(2006): 183-196.[6] Yang, Xin-She. "Firefly algorithm, stochastic testfunctions and design optimisation." arXiv preprintarXiv:1003.1409 (2010).[7] Yavuz, Samet. Design and optimization of parallelmanipulators for rehabilitation. MS thesis. ÇankayaÜniversitesi, 2017.[8] Selvi, Özgün, and Samet Yavuz. "Dimensionaloptimization of a 3-DoF spherical parallel manipulatorfor rehabilitation by using firefly algorithm."International Journal of Mechanisms and RoboticSystems 4.2 (2018): 107-119.[9] Selvi, Özgün, and Samet Yavuz. "Design anddimensional optimization of a novel walking mechanismwith firefly algorithm." International Workshop onComputational Kinematics. Springer, Cham, 2017.