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## 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

efficient Pareto-set