Optimization of a Fin Ray Effect Gripper using Taguchi Design

This paper proposes to optimize the design of the fin ray effect gripper using the Taguchi method. A L25 Taguchi Orthogonal Array is constructed to create the experiments with varying parameters of spacing, thickness, base length and angle. A static structural finite element analysis is then created to solve and analyze the design of the fin ray effect gripper. The effects of the different design parameters in relation to the total tip displacement is analyzed. Then the response of the gripper in terms of gripper tip total displacement is optimized.