Optimization of multi-DOF mechanisms

The purpose of this chapter is to discuss recent results reported in the literature on mechanism synthesis using optimization techniques. We are interested in the optimum design of multi-DOF mechanisms taking into account their dimensions and their morphology. After introducing the general problem of optimum design in this context, we describe different formulations of objective functions used in order to represent the mechanical specifications of the mechanism at hand. A short survey of classical and nonclassical optimization algorithms is included with respect to their application to mechanism synthesis. Finally, several applications of mechanism optimization are discussed, as appearing in research and industrial environments. These applications comprise industrial manipulators and ergonomic layouts in encumbered environments.