Method of providing performance indicators of robot hand and method of optimizing structure of robot hand

A processor-implemented method of optimizing a structure of robot manipulators, comprising:

• receiving setting values for a model of a manipulator structure of a robot that has three or more manipulators;
• determining movement of respective manipulator tips of the manipulators involved in the model based on the received setting values;
• determining performance indicators through interactivity of fingers (IF) that reflects a volume range where three of the manipulator tips can meet one another;
• and
• optimizing the structure of the robot manipulators based on the determined performance indicators,
• wherein the setting values comprise an angle value obtained by rotating a first manipulator, among the manipulators, at a start point of the first manipulator,
• wherein the determining of the movement comprises determining a distance between the start point of the first manipulator and a start point of a second manipulator among the manipulators, and
• wherein the optimizing of the structure of the robot manipulators comprises manufacturing the robot manipulators based on the determined performance indicators.

A processor-implemented method of optimizing a structure of a robot hand, comprising:

• receiving initial setting values for a model of a robot hand structure;
• determining initial interactivity values between a thumb and fingers through interactivity of fingers (IF) that reflects a volume range where a thumb tip of the thumb and two of respective finger tips of the fingers can meet one another, based on the received initial setting values;
• determining a plurality of secondary interactivity values based on the initial interactivity values and the initial setting values by an optimization algorithm;
• extracting a maximum secondary interactivity value among the plurality of secondary interactivity values;
• determining optimized design values based on setting values of the extracted maximum secondary interactivity value;
• and
• optimizing the structure of the robot hand based on the determined optimized design values,
• wherein the initial setting values comprise an angle value obtained by rotating the thumb at a start point of the thumb,
• wherein the determining of the initial interactivity values comprises determining a finger movement that refers to a workspace where the thumb and the fingers provided in the model are movable,
• wherein the workspace is determined by determining a distance between the start point of the thumb and a start point of a finger among the fingers, and
• wherein the optimizing of the structure of the robot hand comprises manufacturing the robot hand based on the determined optimized design values.

A system of optimizing a structure of a robot hand, the system comprising:

• an input section configured to receive setting values for a model of a robot hand structure;
• and
• a controller comprising:
• a finger workspace determiner configured to determine movement of a thumb tip of a thumb and respective finger tips of fingers involved in the model based on the received setting values;
• a performance indicator determiner configured to determine performance indicators through interactivity of fingers (IF) that reflects a volume range where the thumb tip and two of the finger tips can meet one another;
• and
• a performance indicator processor configured to output the determined performance indicators as the performance indicators for the model of the robot hand structure indicated by the received setting values,
• wherein the setting values comprise an angle value obtained by rotating the thumb at a start point of the thumb,
• wherein the finger workspace determiner is further configured to determine the movement by determining a distance between the start point of the thumb and a start point of a finger among the fingers,
• wherein the structure of the robot hand is optimized by manufacturing the robot hand based on the determined performance indicators.