Optimization Design of a Micro Gripper Based on Kriging Model

Abstract

Abstract: In order to tradeoff the opening distance, gripping force sensitivity and rapid response of a novel micro gripper, a optimization method was proposed based on Kriging model. Latin hypercube sampling method was used to select test points, and the response values corresponding to each test point were calculated by using ANSYS. The correlation analysis was carried out to determine the structural parameters affecting performance greatly, and the parameters were selected as the optimization design variables. The nonlinear model reflecting the relationship between the performance index and the design variables was built by using Kriging theory, and the multi-objective optimization model was established. The comparative analyses of the performance indexes before and after optimization show that the magnification ratio increases 7.4%, the natural frequency increases 16.46%, the output stiffness increases 9.84%, the maximum stress decreases by 5.75%. It illustrates that the proposed performance optimization method is effective.

Key words: micro gripper, Latin hypercube sampling, Kriging model, multi-objective genetic algorithm

摘要： 为了综合平衡一种新型微夹持器的张合量、夹持力灵敏度与快速响应，提出一种Kriging模型的优化方法。采用拉丁超立方抽样方法确定试验点，采用ANSYS计算各试验点对应的响应值。进行相关性分析以确定对性能影响较大的结构参数，并将其作为优化设计变量。采用Kriging理论建立能反映性能指标与设计变量之间关系的非线性模型，并建立多目标优化模型。比较分析优化前与优化后的各性能指标可知，放大倍数增大了7.4%，固有频率增大了16.46%，输出刚度增大了9.84%，最大应力减小了5.75%，说明所提出的性能优化方法有效。

关键词: 微夹持器, 拉丁超立方抽样, Kriging模型, 多目标遗传算法

CLC Number:

TH703
TP274

Hu Junfeng, Cai Jianyang, Zheng Changhu. Optimization Design of a Micro Gripper Based on Kriging Model[J]. China Mechanical Engineering.

胡俊峰, 蔡建阳, 郑昌虎. 基于Kriging模型的微夹持器优化设计[J]. 中国机械工程.

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