PARETO-OPTIMAL SOLUTIONS USING KINEMATIC AND DYNAMIC FUNCTIONS FOR A SCHONFLIES PARALLEL MANIPULATOR

The search of Pareto-optimal solutions for the optimal design of Low-Mobility Parallel Manipulators with Schonflies motion is the subject of this paper As a working example, a four-degree-of-freedom symmetric parallel manipulator for Schonflies-motion generation is taken. In previous work, analytically found objective functions for the optimal design were used. As a consequence, some limitations were detected and new functions are required. First, a manipulator description is made, and kinematic and dynamic problems are solved. Next, an operational and dexterous workspace along with its volume is found making use of a discretization. Further, the variation of this volume with dimensional parameters is shown for purpose of optimal design. Similarly, the manipulator's dexterity based on the Frobenius norm is found and weighted with the measure of dispersion. Then, upon a type of testing trajectory over this workspace, kinematic and dynamic results in the actuators are proposed as objective functions in multiobjective optimization.