In mechanism design and in the particular case of the parallel manipulator, most optimization problems involve simultaneously optimizing more than one objective function. In this paper, a method to identify Pareto-optimal solutions for the design of low-mobility parallel manipulators is presented. A 4-degree-of-freedom symmetric parallel manipulator for Schönflies-motion generation is taken as a case study. The design goals used are workspace volume and manipulator dexterity based on a dispersion weighted Frobenius norm. In addition, an expression for energy per cycle has been defined for different types of trajectory to evaluate the power drive. Finally, the set of Pareto-optimal solutions of the design parameters are represented in the design parameter space.
Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy
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Altuzarra, O., Pinto, C., Sandru, B., and Hernandez, A. (May 18, 2011). "Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy." ASME. J. Mech. Des. April 2011; 133(4): 041007. https://doi.org/10.1115/1.4003879
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