Multi criteria optimum design of 3 dof translational in parallel manipulators (3TPM)

A suitable use of software packages for optimization problems can give the possibility to formulate design problems of robotic mechanical systems by taking into account several aspects and behaviours for optimum solutions both in design and operation. However, an important issue that can be critical to obtain practical solutions can be recognized in a proper identification and formulation of criteria for optimality purposes and numerical convergence feasibility. In this paper a multi-objective optimization problem has been proposed to formulate a unique design procedure that takes into account the design optimality criteria in terms of suitable general algorithms for workspace of the RAF (Romdhane-Affi-Fayet) robot. A method based on the genetic algorithm is used to solve the optimization problem. A multi-objective function, based on the mathematical concept of the power of a point with respect to a surface, is formulated. The suggested method is simple and effective in searching the design vector defining the robot with the smallest workspace and containing a prescribed volume in space.