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

A method of providing performance indicators of robot manipulators, wherein the method performed by an operational system comprises:

• receiving setting values for a model of a manipulator structure of a robot that uses three or more manipulators to grasp an object;
• calculating workspaces of manipulator tips involved in the model based on the received setting values;
• and
• calculating performance indicators through ‘interactivity of fingers’ that reflects a volume range where the three manipulator tips can meet one another.

A method of optimizing a structure of a robot hand, wherein the method performed by an operational system comprises:

• receiving initial setting values for a model of a robot hand structure;
• calculating initial interactivity values between thumb and fingers through ‘interactivity of fingers’ that reflects a volume range where a thumb tip and two finger tips can meet one another, based on the received setting values;
• calculating a plurality of secondary interactivity values based on the initial interactivity values and the initial setting values by an optimization algorithm;
• and
• extracts a maximum secondary interactivity value among the plurality of secondary interactivity values and calculating optimized design values based on the setting values of the extracted maximum secondary interactivity value.