Multi-objective optimization of a symmetric schönflies motion generator

Abstract

The multiobjective optimal design of a four-degree-of-freedom symmetric parallel manipulator is the subject of this paper. The design has rotary actuators and generates SCARA motion. Kinematic functions are implemented and used in a multiobjective optimization. First, the manipulator description is made, and kinematic problems are solved. Then the Circular Trajectory pattern and Singularity-free-volume concepts is implemented and an operational dexterous workspace along with his volume is defined. Similarly, the manipulator's kinematic dexterity based on the Frobenius norm is found. Finally, the kinematic results are proposed as objective functions in a Design Parameters Space approach. © Springer Science+Business Media B.V. 2010.