Design of a Soft Gripper Using Genetic Algorithms

Journal
Computación y Sistemas
ISSN
2007-9737
1405-5546
Date Issued
2021
Author(s)
Mayorga-Acosta, Carlos
Type
text::journal::journal article
DOI
URL
Abstract
In this paper, we present an artificial intelligence-assisted design of a soft robotic gripper. First, we formulate the design of the soft gripper as an optimization problem. Then, we design and configure a genetic algorithm (GA) method to solve the problem under design constraints. Lastly, we implement the whole system in co-simulation between the GA and a computer-aided design software that evaluates the candidate solutions using finite element analysis. A network-attached storage server connecting multiple nodes runs the GA method in parallel, to accelerate the process. After experimentation, we present simulation results to validate our approach. © 2021 Instituto Politécnico Nacional. All rights reserved.