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Current rigid linkage grippers are limited in flexibility, and gripper designoptimality relies on expertise, experiments, or arbitrary parameters. Ourproposed rigid gripper can accommodate irregular and off-center objects througha whippletree mechanism, improving adaptability. We present a whippletree-basedrigid under-actuated gripper and its parametric design multi-objectiveoptimization for a one-wall climbing task. Our proposed objective functionconsiders kinematics and grasping forces simultaneously with a mathematicalmetric based on a model of an object environment. Our multi-objective problemis formulated as a single kinematic objective function with auto-tuningforce-based weight. Our results indicate that our proposed objective functiondetermines optimal parameters and kinematic ranges for our under-actuatedgripper in the task environment with sufficient grasping forces.

An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights