Planar Motion Research Articles

Soft Electromagnetic Sliding Actuators for Highly Compliant Planar Motions Using Microfluidic Conductive Coil Array.

We propose a soft electromagnetic sliding actuator that provides various planar motions to construct highly compliant actuation systems. The actuator is composed of a fully soft actuation base (stator) for generating electromagnetic and magnetic forces and a rigid neodymium magnet (slider) that slides on the actuation base. A parallel liquid-metal coil array in the stator is designed based on theoretical modeling and an optimization process to maximize the electromagnetic field density. The stretchable magnetic components in the stator allow the slider to retain its position stably without additional constraints. By incorporating an untethered structure in which the slider is mechanically decoupled from the stator, the actuator can be operated with reduced power consumption, attributed to the absence of a restoring force. The trajectory of the slider can be programmed by selectively applying the input current to the liquid-meal coil array, and the location of the slider can be estimated by measuring the change in inductance of each coil. Moreover, the proposed actuator demonstrates the capability of operating on curved surfaces through its physical compliance as well as on inclined surfaces thanks to the holding force generated by the magnetic components of the stator. Taking advantage of the unique characteristics of our actuator, robotic applications, including shape morphing systems and sensor-actuator integrated systems, are demonstrated.

Relationship between Kinesiophobia and Dynamic Postural Stability after Anterior Cruciate Ligament Reconstruction: A Prospective Cohort Study.

Anterior cruciate ligament (ACL) injuries in young, active patients generally require ACL reconstruction (ACLR) to restore mechanical and postural stability. The fear of movement or reinjury (kinesiophobia) has become increasingly recognized in the post-ACLR population; however, the association between restoration of postural stability and kinesiophobia remains largely unknown. The purpose of this study was to investigate changes in mean Tampa Scale of Kinesiophobia-11 (TSK-11), dynamic motion analysis (DMA) scores, and time on the testing platform, as well as any correlation between TSK-11 and mean overall and individual translational and rotational DMA scores during the first 12 months following ACLR. Cohort study. Patients undergoing ACLR were prospectively enrolled and dynamic postural stability and kinesiophobia based on the TSK-11 were collected within 2 days prior to surgery and at 6 and 12 months following ACLR. Dynamic postural stability was quantified by calculating a DMA score, with score calculated in three translational (anterior/posterior [AP], up/down [UD], medial/lateral [ML]) and three rotational (left/right [LR], flexion/extension, and internal/external rotation) independent planes of motions. Correlations between DMA and TSK-11 scores at each time point were analyzed. A total of 25 patients meeting inclusion criteria were analyzed. Mean overall DMA and TSK-11 scores increased with each successive testing interval. At 6-month follow-up, a weakly positive association between TSK-11 and DMA scores was appreciated based on overall DMA, AP, UD, ML, and LR. At 12 months, a moderately positive correlation was appreciated between TSK-11 and the translational, but not rotational, planes of motion. Following ACLR, lower level of kinesiophobia were found to be moderately associated with improved dynamic stability, especially in the translation planes of motion.

Research on positioning accuracy of the swivel head of milling and turning complex machining center

Abstract This article focuses on the swivel head of a milling-turning complex machining center and establishes a geometric error model between the rotary axes based on the multi-body system theory and the homogeneous coordinate transformation method. The double ball bar (DBB) is used to identify the geometric errors of the machine tool swivel head position-independent by measuring circular trajectories. The impact of PIGEs on the measurement trajectory is simulated. The swivel head is rotated at four angles (B0°, B45°, B90°, B-15°), and the laser tracker is used to analyze and study the linear axis straightness, perpendicularity, and the center coordinates and plane errors of the swivel head movement along the XZ plane. A swivel head rotation accuracy test fixture is designed to correct the positioning accuracy of a swivel head with a 45° inclination of the rotation axis. The research results show that the fluctuation of the center plane degree of freedom of the swivel head moving along the XZ plane is small, and the maximum value is 0.0086mm. Under the 45° angle posture of the swivel head, both the center coordinate error value and the plane error value are the largest. The simulation results of the swivel head position error are fairly consistent with the center coordinate error of the swivel head plane movement. A backward tilt displacement of 0.01mm~0.015mm of the machine column during assembly can reduce the influence of the weight of the swivel head on the perpendicularity and straightness of the vertical reciprocating motion, and adding auxiliary support near the base of the swivel head zero position can reduce machine straightness error.

Differences in the stride time and lower limb joint angles and their variability during distance running between treadmill and over-ground: a crossover study.

Treadmills have been used in laboratories to assess various measures related to walking and running. However, there has been some skepticism regarding their reliability as a representation of outdoor running. While marathon running has gained popularity as a form of physical activity, there have been few studies examining stride-to-stride variability after distance running, especially in relation to the duration and surface of running. This study compared stride time and lower limb joint angles during distance treadmill running and running over-ground. The hypothesis was that stride-to-stride variability would be influenced by running duration and surface, with greater variability observed during outdoor running. Eleven runners participated in the study, running on a treadmill and over-ground for 31 minutes at their preferred speed. Inertial measurement units were used to measure stride time, total range of motion, and joint angles of the hip, knee, and ankle in different phases of the gait cycle in the sagittal plane movements. Mean and coefficient of variation of each parameter were compared between the initial and final 5 minutes of running on the treadmill and over-ground. There were no significant differences in stride time or its variability based on running duration or surface. However, mean and variability of certain lower limb joint angles were higher during outdoor running, supporting the hypothesis. Variability was higher in the initial duration of running as compared to final phase of running. These findings suggest that treadmill may not fully reflect the dynamics of running over-ground. It is important to consider variability in gait analysis and research, as well as the potential impact on training and clinical practice.

Dynamic Functional Ability in Lacrosse Players in Relation to Development of Sport-Related Onset of Musculoskeletal Pain.

Unlike other sports, the relationship between performance deficits and pain/injury in lacrosse players has not been well-investigated. The purposes of this study were to: 1) determine whether age and sex differences exist in dynamic physical function tests and drop jump performance among lacrosse players, and 2) determine whether pre-seasonal physical function scores predict onset of either lower extremity or low back pain over time. Prospective observational study. Lacrosse players (N=128) were stratified into three groups: 12-14.9 yrs, 15-18 yrs and >18 yrs. Thomas test (hip flexibility), Ober's test (iliotibial band tightness), and Ely's test (rectus femoris tightness) were performed. Landing Error Scoring System (LESS) scores were collected while players performed drop jumps. Sagittal and frontal plane movement from 2D video during single and double legged squats was assessed. Musculoskeletal pain symptoms or injury were tracked for six months. Age bracket, sex and physical function scores were entered into logistic regression models to determine risk factors that predicted onset of lower extremity pain and low back pain onset. LESS scores and single-leg squat movement quality test scores were lowest in the 12-14.9 yr groups and highest in the >18 yr group (all p<0.05). Single leg squat performance score increased the odds risk (OR) for lower extremity pain (OR=2.62 [95% CI 1.06-6.48], p=.038) and LESS scores elevated risk for low back pain onset over six months (OR = 2.09 [95% CI 1.07- 4.06], p= .031). LESS scores and single legged squat performance may help identify lacrosse players at risk for musculoskeletal pain or injury onset. Detecting these pertinent biomechanical errors and subsequently developing proper training programs could help prevent lower extremity and low back pain onset. III.

W-VSLAM: A Visual Mapping Algorithm for Indoor Inspection Robots.

In recent years, with the widespread application of indoor inspection robots, high-precision, robust environmental perception has become essential for robotic mapping. Addressing the issues of visual-inertial estimation inaccuracies due to redundant pose degrees of freedom and accelerometer drift during the planar motion of mobile robots in indoor environments, we propose a visual SLAM perception method that integrates wheel odometry information. First, the robot's body pose is parameterized in SE(2) and the corresponding camera pose is parameterized in SE(3). On this basis, we derive the visual constraint residuals and their Jacobian matrices for reprojection observations using the camera projection model. We employ the concept of pre-integration to derive pose-constraint residuals and their Jacobian matrices and utilize marginalization theory to derive the relative pose residuals and their Jacobians for loop closure constraints. This approach solves the nonlinear optimization problem to obtain the optimal pose and landmark points of the ground-moving robot. A comparison with the ORBSLAM3 algorithm reveals that, in the recorded indoor environment datasets, the proposed algorithm demonstrates significantly higher perception accuracy, with root mean square error (RMSE) improvements of 89.2% in translation and 98.5% in rotation for absolute trajectory error (ATE). The overall trajectory localization accuracy ranges between 5 and 17 cm, validating the effectiveness of the proposed algorithm. These findings can be applied to preliminary mapping for the autonomous navigation of indoor mobile robots and serve as a basis for path planning based on the mapping results.

Evaluation of hydrodynamic coefficients and sensitivity analysis of a work-class remotely operated vehicle using planar motion mechanism tests

This paper presents a comprehensive analysis of the hydrodynamic forces and moments relating to the drag on an open-frame work-class remotely operated vehicle (ROV) AUTO-1000. We describe the results of planar motion mechanism experiments conducted with the aim of modeling and simplifying the mathematical maneuverability model for such an ROV. The scale of the model is 1:4. Various experiments are performed in a nonlinear wave channel. The flow speeds in the static drag tests range from ±0.2–±0.5 m/s and the angle in the drift tests is less than 10°. The motion frequencies of the dynamic tests range from 0.25 to 3.14 rad/s. The amplitude of the translation motions is 0.03 m and the largest angular amplitude in the rolling tests is 5°. The viscous and inertial hydrodynamic coefficients are estimated. Normalized sensitivity coefficients are used to investigate the sensitivity of both the viscous and inertial hydrodynamic coefficients considering the multi-degree-of-freedom motion and velocity effect. The drag, drift, and stationary random motions are used to examine the sensitivity. A comparison of the motion simulation results given by simplified and complete models shows that a threshold normalized sensitivity coefficient value of 0.01 is suitable for filtering the ROV coefficients.

Twins and β0 precipitation effects on the lamellar degradation in TNM alloy during creep

In this paper, the microstructure instability of the TNM alloy during creep at 800 °C under 150 MPa and 250 MPa was investigated. The results indicate that, both β0 precipitation (inside lamellae) and primary γ twins formation are initiated during the second stage of creep. Compared to low creep stress conditions (150 MPa), high creep stress conditions (250 MPa) accelerate the initiation of the third stage of creep, inducing the precipitation of ω0 phase and secondary twins. The nanoscale ω0 particles formed inside β0 or at the interface of the β0/β0. The intersection of secondary γ twins and α2 lamellae leads to stress concentration and dislocation accumulation, providing nucleation points for β0 phase and promoting the precipitation of β0 within α2 lamellae. The precipitation of the secondary γ twin introduces a unit dislocation of 1/3 [111]γ in the (111) atomic planes, promoting the movement of adjacent atomic planes within the (111) atomic planes. The 1/3 [111]γ dislocations will dissociate into two partial dislocations via 1/3 [111]γ→1/4 [11 1‾]γT +1/9 [0 1‾1]γM. The adjacent atomic planes of the γ matrix and secondary γ twin can transformation to β0 through shear along 1/9 [0 1‾1]γM and 1/4 [11 1‾]γT, respectively. The size and content of β0 phase significantly increase in the third stage of high creep stress, accelerating the decomposition and fragmentation of the α2 lamellae, leading to rapid creep failure.

Development of a Fast Positioning Platform with a Large Stroke Based on a Piezoelectric Actuator for Precision Machining.

In this paper, a fast positioning platform (FPP) is proposed, able to meet simultaneously the requirements of large stroke and high frequency response, developed based on a PZT (piezoelectric actuator) and a quad-parallel flexible mechanism, for application in precision machining. The FPP is driven by a high-stiffness PZT and guided by a flexible hinge-based mechanism with a quad-parallel flexible hinge. The proposed quad-parallel flexible hinge mechanism can provide excellent planar motion capability with high stiffness and good guiding performance, thus guaranteeing outstanding dynamics characteristics. The mechanical model was established, the input and output characteristics of the FPP were analyzed, and the working range (output displacement and frequency) of the FPP was determined. Based on the mechanical model and the input and output characteristics of the FPP, the design method is described for of the proposed FPP, which is capable of achieving a large stroke while responding at a high frequency. The characteristics of the FPP were investigated using finite element analysis (FEA). Experiments were conducted to examine the performance of the FPP; the natural frequency of the FPP was 1315.6 Hz, while the maximum output displacement and the motion resolution of the FPP in a static state were 53.13 μm and 5 nm, respectively. Step response testing showed that under a step magnitude of 50 μm, the stabilization times for the falling and rising edges of the moving platform were 37 ms and 26 ms, respectively. The tracking errors were about ±1.96 μm and ±0.59 μm when the amplitude and frequency of the signal were 50 μm, 50 Hz and 10 μm, 200 Hz, respectively. The FPP showed excellent performance in terms of fast response and output displacement. The cutting test results indicated that compared with the uncontrolled condition, the values of surface roughness under controlled conditions decreased by 23.9% and 12.7% when the cutting depths were 5 μm and 10 μm, respectively. The developed FPP device has excellent precision machining performance.

Dynamical analysis of a forced vibrating planar motion of a spring pendulum

Dynamical analysis of a forced vibrating planar motion of a spring pendulum

Correlation between optical phonon softening and superconducting Tc in YBa2Cu3Ox within d-wave Eliashberg theory

Abstract We provide a mathematical description, based on d-wave Eliashberg theory, of the strong correlation between the experimentally observed softening of Raman modes associated with in-plane oxygen motions and the corresponding superconducting critical temperature T c , as a function of oxygen doping x, in YBa2Cu3O x . The theoretical model provides a direct link between physical trends of soft optical Ag (in-plane) oxygen modes, the level of oxygen doping x, and the superconducting T c . Different regimes observed in the trend of T c vs doping can be related to corresponding regimes of optical phonon softening in the Raman spectra. These results provide further evidence related to the physical origin of high-temperature superconductivity in rare-earth cuprate oxides and to the significant role of electron–phonon coupling therein.

Shape memory effect enhancement via aging treatment of the Cu-Al-Mn-Si alloy manufactured using laser powder bed fusion

This study investigated the effects of aging treatments (200–500℃, 1 h) on the Cu-11.1Al-8.15Mn-0.37Si shape memory alloy manufactured using laser powder bed fusion (LPBF). As the aging temperature increased, the residual stress of the alloy decreased, and the microstructure transitioned from an austenite-martensite dual-phase structure to an austenite single-phase structure. A phenomenon of martensite stabilization induced by low-temperature aging at 200–300℃ was observed, leading to increased phase transformation temperatures and decreased mechanical properties. After aging at 400℃, the plasticity was improved and the shape memory effect (SME) recovery strain experienced a significant 48 % enhancement and reached a maximum value of 3.10 %. This enhancement was due to the improved ordering and texture homogenization of the austenite phase, confirmed by EBSD results. Meanwhile, EPMA analyses revealed the pinning effect of Mn5Si3 precipitations migrated from the grain interior to the grain boundaries which no longer obstructed the movement of martensitic habit planes during the recovery process. Thus, the SME improved. Additionally, after aging at 500℃, a large amount of α phase precipitated along grain boundaries leading to a decrease in mechanical properties. These findings underscore the importance of tailored aging treatments for optimizing shape memory properties in LPBF-manufactured Cu-based shape memory alloys.

Automatic Tea Ceremony Teapot Robotic Arm Design Based on TRIZ Principle

With the accelerated pace of modern society, there is a contradiction between the tedious steps of traditional tea ceremony and the convenient lifestyle. In order to solve this problem, this study applies the TRIZ theory to optimize the design of the fully automatic tea ceremony teapot robot arm. Through the "nine-screen method", the traditional tea-making process was comprehensively analyzed, the key steps were identified, and the cultural significance and technical requirements of each step were discussed in depth. Using the "technical contradiction matrix" and "physical contradiction" analysis, the potential contradictions in the tea-making process were revealed, and the "physical field model" was applied to construct the problem model and explore the possible solutions. The problem model was constructed by applying the "Physical Field Model", and possible solutions were explored. The study proposes a fully automated tea art teapot robotic arm design program that integrates several key technology modules such as heating and temperature control, plane movement, lid operation, and pouring and dispensing of tea. The program ensures the quality of tea soup and the experience of traditional tea ceremonies through the well-designed robotic arm structure and improves the efficiency of tea brewing at the same time. The structural safety of the design scheme is verified by stress analysis of the connecting plate of the robotic arm and the connecting plate of the teapot base. Finally, the feasibility and effectiveness of the proposed scheme are verified through kinematic analysis, prototype testing, and user experience evaluation. This study is of great practical significance for the modernization and transformation of the traditional tea ceremony and also provides a reference for the automation of other traditional crafts. With the continuous progress of technology, we expect more innovative products combining traditional culture and modern technology to appear in the future so that traditional art can be revitalized in modern society.

An improved preconditioned conjugate gradient method for unconstrained optimization problem with application in Robot arm control

AbstractThis work suggests improved conjugate gradient methods for enhancing the efficiency and robustness of the classical conjugate gradient methods. The study modifies the diagonal of the inverse Hessian approximation of the Broyden–Fletcher–Goldfarb–Shanno (BFGS) quasi‐Newton update in order to build a preconditioner for nonlinear conjugate gradient (NCG) methods applied to large‐scale unconstrained optimization problems. Damping techniques were embedded into the algorithm to impose the positive definiteness of the diagonal approximation. This made the methods easy to use and presented a viable way to increase the effectiveness of unconstrained optimization techniques. Experimental findings from a collection of benchmark problems demonstrate the efficiency and robustness of the proposed method when compared to five other existing NCG algorithms. Moreover, the successful application of the algorithm to manipulate robotic planar motion control systems with 3 degrees of freedom has been demonstrated, highlighting the practicality of the proposed approach.

A framework for player movement analysis in team sports.

Player movement is a fundamental component of evaluating performance in most team sports. Movement can be evaluated across multiple scales, referring to the function of anatomical structures through various planes of motion or an individual regulating their field position based on the movement of opposition players. Developments in commercially available tracking systems have afforded end users the ability to investigate the spatiotemporal features of movement in fine detail. These advancements, in conjunction with overlaid contextual information, have provided insights into the strategies adopted by players in relation to their movement. Understanding movement beyond its semantic value allows practitioners to make informed decisions surrounding performance evaluation and training design. This investigation proposes a framework to guide the analysis of player movement within team sports environments. The framework describes how operational standards for assessing movement can be designed in reference to theory and a set training philosophy. Such practice allows for the spatial and temporal complexities within team sports to be described and could potentially lead to better-applied outcomes through greater interdisciplinary collaboration and an improved holistic understanding of movement. To inform its development, this study evaluates the current research and identifies several open questions to guide future investigations.

The effect of an 8-week fitness regime on low back pain and core strength in high-risk professionals.

Low back pain is prevalent among various populations and greatly impacts their quality of life. Professions that incorporate several working hours combined with heavy labor are the most affected. The aim of this study was to examine the effects of an 8-week core training intervention in emergency personnel. Sixteen randomly selected male participants; police officers (N.=8) and firefighters (N.=8) (mean age: 40.75 years; mean height: 177.69 cm; mean body mass: 85.50 kg) performed various testing procedures that assessed core muscle strength and endurance and filled the Oswestry Disability Index Questionnaire regarding the level of low back pain before and after the intervention. The 8-week intervention consisted of two 45-60-minute sessions per week that included ten core-related exercises. Statistical analysis; paired samples t-test and Wilcoxon Signed-Rank Test, demonstrated significant effects in the 30-sec sit-up test, the Double Leg Lowering Test and the isometric abdominal strength measurements; p value level of significance was set at P≤0.05. All participants had minimal lower back disability before and after the intervention. The results demonstrated that the prescribed regime could improve core strength and endurance in high-risk professionals. The most important finding is that training interventions for emergency personnel are most effective when they incorporate a variety of exercises that target the core musculature in all planes of movement and engage the whole range of motion.

Reliability of cervicocephalic sense of force

Cervicocephalic proprioception (CCP) is an important assessment item for people with a range of clinical conditions, where reduced CCP is associated with neck pain and imbalance. Reliability has been established for a range of positional and movements tests, but there is limited data regarding sense of force, particularly across three planes of movement. The current test–retest study assessed reliability when evaluating sense of force in healthy adults (8 males, 6 females, mean age 31.50 years [SD 10.14]) over two sessions, 4–7 days apart. A force matching protocol was used to evaluate reliability of absolute error (AE), constant error (CE), and variable error (VE) for 10 % and 25 % maximal voluntary contraction (MVC) target forces for flexion, extension, lateral flexion, and rotation. Participants were strapped to a chair to limit trunk movement and data was captured using a compressive force transducer fixed to an adjustable wall mount. Six trials were performed for each contraction-type, totaling 72 submaximal MVCs per session. ICC estimates for AE (0.15–0.77), CE (0.01–0.85), and VE (0.00–0.83) were varied and confidence intervals were mostly wide. Considering lower limits of confidence intervals, CE had best reliability values generally, but more specifically the most reliable contraction type and movement was 25 % MVC flexion (ICC 0.85, confidence interval 0.54–0.95). This study found that reliability for sense of force testing was dependent upon contraction, type of error, and target force utilized. Further reliability analysis should be performed when applying this test to measure validity outcomes in clinical populations.

Does a Hip Muscle Activation Home Exercise Program Change Movement Patterns on the Forward Step-Down Test?

Poor knee biomechanics contribute to knee joint injuries. Neuromuscular control over knee position is partially derived from the hip. It is unknown whether isolated activation training of the gluteal muscles improves lower-extremity frontal plane mechanics. This study examined if a home-based hip muscle activation program improves performance on the Forward Step-Down Test as well as increases surface electromyography (sEMG) activation of the gluteal muscles. The study utilized a single-group repeated-measures design. Thirty-five participants (24 females, mean age = 23.17 [SD 1.36] years) completed an 8-week hip muscle activation program. The Forward Step-Down Test score and sEMG of gluteus maximus and medius were assessed preintervention and postintervention. Forward Step-Down Test scores improved significantly from preintervention (Mdn = 3.5) to postintervention (Mdn = 3.0, T = 109, P = .010, r = .31.), but this result did not meet clinical significance. sEMG analysis revealed a significant increase in mean gluteus maximus activation (P = .028, d = 1.19). No significant dose-response relationship existed between compliance and the Forward Step-Down Test scores or sEMG results. A home-based hip activation program increases gluteus maximus activation without clinically significant changes in frontal plane movement quality. Future studies may find clinical relevance by adding motor learning to the activation training program to improve functional muscle use.

Proton Conduction in Chiral Molecular Assemblies of Azolium-Camphorsulfonate Salts.

Chiral molecular assemblies have attracted considerable attention because of their interesting physical properties, such as spin-selective electron transport. Cation-anion salts of three azolium cations, imidazolium (HIm+), triazolium (HTrz+), and thiazolium (HThz+), in combination with a chiral camphorsulfonate (1S-CS-) and their racemic compounds (rac-CS-) were prepared and compared in terms of phase transitions, crystal structures, dynamics of constituent molecules, dielectric responses, and proton conductivities. The cation-anion crystals containing HIm+ showed no significant difference in proton conductivity between the homochiral and racemic crystals, whereas the HTrz+-containing crystals showed higher proton conductivity and lower activation energy in the homochiral form than in the racemic form. A two-dimensional hydrogen-bonding network consisting of HTrz+ and -SO3- groups and similar in-plane rotational motion was observed in both crystals; however, the HTrz+ cation in the homochiral crystal exhibited the rotational motion modulated with translational motion, whereas the HTrz+ cation in the racemic crystal exhibited almost steady in-plane rotational motion. The different motional degrees of freedom were confirmed by crystal structure analyses and temperature- and frequency-dependent dielectric constants. In contrast, steady in-plane rotational motion with the thermally activated fluctuating motion of CS- was observed both in homochiral and racemic crystals containing HIm+, which averaged the motional space of protons resulting in similar dielectric responses and proton conductivities. The control of motional degrees of freedom in homochiral crystals affects the proton conductivity and is useful for the design of molecular proton conductors.

Design, Analysis and Optimization of Four Degrees of Freedom of Parallel Gripper Mechanism for Industrial Automation

Objectives: To obtain the positions, velocities, and acceleration of actuators of the 4-DOF of the parallel gripper, and optimization of the mechanism is carried out to find the optimal dimensions of the mechanism. Methods: Kinematic analysis is carried out to find the positions and velocities of the gripper of the mechanism. The method used to solve the position of the mechanism is inverse kinematics. A source code is written in MATLAB software to find the positions and velocities of the gripper. This software is a computing platform which can solve large size matrices easily which is most suitable for robots. A model of the mechanism is created in CATIA with constraints. The developed CATIA model is used in ANSYS software for structural analysis. The method used for finding optimal dimensions is Genetic algorithms. Optimization is carried out using Genetic Algorithms (GA’s) using the Energy Manipulation Index as an objective for obtaining the optimal dimensions of the parallel gripper mechanism. Finally, ADAMs software is used to simulate the mechanism. Findings: using inverse kinematic equations the results of displacements, velocities, and accelerations obtained for in-plane horizontal motion, and in-plane vertical motion s plotted. After checking the gripper performance, It is observed that the in-plane vertical transmission is better than the in-plane horizontal transmission. Based on the Energy Manipulation Index (EMI), the performance-to-effort ratio of the gripper object is calculated. It tells about the physical significance of energy transfer efficiency. If the energy occupied by the end-effector is higher than the 4-DOF Parallel Gripper achieves higher efficiency and possesses better manipulability performance. Maximum EMI is taken as an objective for optimization using GA. Simulation is carried out using ADAMS software to determine the driving forces or torques. Novelty/improvement: In this paper the performance index EMI is taken as objective to find the optimal dimensions of the 4-DOF of parallel gripper. Keywords: ­ DOF parallel gripper, In­hand manipulation, In­hand twisting, Driving force, Energy Manipulation Index (EMI)