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Multi-Objective Design of Parallel Manipulator Using Global Indices

F. A. Lara-Molina, J. M. Rosario, D. Dumur
2010 The Open Mechanical Engineering Journal  

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The paper addresses the optimal design of parallel manipulators based on multi-objective optimization. The objective functions used are: Global Conditioning Index (GCI), Global Payload Index (GPI), and Global Gradient Index (GGI). These indices are evaluated over a required workspace which is contained in the complete workspace of the parallel manipulator. The objective functions are optimized simultaneously to improve dexterity over a required workspace, since single optimization of an
more » ... e function may not ensure an acceptable design. A Multi-Objective Evolution Algorithm (MOEA) based on the Control Elitist Non-dominated Sorting Genetic Algorithm (CENSGA) is used to find the Pareto front.
doi:10.2174/1874155x01004010037 fatcat:at7rxzfod5bvlgz4sh7tftjba4
Citation

F. A. Lara-Molina, J. M. Rosario, D. Dumur. "Multi-Objective Design of Parallel Manipulator Using Global Indices." The Open Mechanical Engineering Journal 4.1 (2010) 37-47