This paper presents a hierarchical, performance-based framework for the design optimization of multi-fingered soft grippers. To address the need for systematically defined performance indices, the framework structures the optimization process into three integrated layers: Task Space, Motion Space, and Design Space. In the Task Space, performance indices are defined as core objectives, while the Motion Space interprets these into specific movement primitives. Finally, the Design Space applies parametric and topological optimization techniques to refine the geometry and material distribution of the system, achieving a balanced design across key performance metrics. The framework's layered structure enhances SG design, ensuring balanced performance and scalability for complex tasks and contributing to broader advancements in soft robotics.

翻译：本文提出了一种基于性能的分层框架，用于多指软体夹持器的设计优化。为满足对系统化定义性能指标的需求，该框架将优化过程构建为三个集成层：任务空间、运动空间和设计空间。在任务空间中，性能指标被定义为核心目标；运动空间则将这些指标解释为具体的运动基元；最后，设计空间应用参数化与拓扑优化技术，对系统的几何形状与材料分布进行精细化调整，从而在关键性能指标间实现均衡设计。该框架的分层结构增强了软体夹持器的设计过程，确保了复杂任务下的均衡性能与可扩展性，并为软体机器人领域的更广泛进展作出贡献。