中文摘要：

针对夹持器在工作过程中夹紧力大小不均的实际情况，采用进化算法对其进行优化设计。以最大最小夹紧力之差最小为目标函数，考虑20个约束条件，建立了夹持器优化设计数学模型。提出了一种基于专家规则的多目标优化算法，编制了优化程序。仿真结果表明优化目标得到改善，并验证了所提方法的有效性。

英文摘要：

Evolutionary algorithm is adopted to optimize the structural parameters of gripper based on the asymmetry of clamp force. A mathematical model for optimization design of the gripper was established. The difference between the maximum and minimum clamp forces was minimized and taken as an objective function under twenty constraints. A novel method of evolutionary multi - objective optimization with expert rules was proposed. The optimization program was made. The simulation results are given to illustrate the enhancement of objective and the validitv of the proposed method.