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Multi-Objective Design of Parallel Manipulator Using Global Indices
2010
The Open Mechanical Engineering Journal
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
doi:10.2174/1874155x01004010037
fatcat:at7rxzfod5bvlgz4sh7tftjba4