Constrained Multi-objective Robot’s Design Optimization
In this article, we consider an approach for the
optimal multi-objective constrained design of the parallel robots.
Optimization is carried out according to two key criteria: the
workspace area and the global dexterity index (GDI) concerning
constrain. The workspace is the area that the robot can serve.
The value of the GDI correlates with the quality of this service.
Both objectives are maximized. However, there is a tradeoff
between these goals, and they can't achieve maximums at the
same point. Therefore, the solution for this problem is a Pareto-optimal frontier (the set of points, which can’t be optimized in any criteria without worsening the other). The paper describes
the robot’s kinematic and singularity analysis, workspace area
approximation, the GDI calculation. The Pareto-frontier for the
multi-objective constrained optimization problem under
consideration is constructed. We also create representative
visualization for robot workspace, singularity positions, and