Design of a Soft Gripper Using Genetic Algorithms

Hiram Ponce, Lourdes Martínez-Villaseñor, Carlos Mayorga-Acosta


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.


Soft robotics; grippers; artificial intelligence; mechanical engineering; CAD model

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