An optimum design procedure for both serial and parallel manipulators

Abstract

Serial and parallel manipulators can be used in different manipulative tasks when their peculiarities in kinematic and dynamic behaviours are properly considered from the design stage. The basic performance in workspace, mobility constraints, and stiffness makes them alternative solutions and not competitive manipulator chains. Thus, it is convenient to deduce a common design procedure that considers common design criteria, but specific numerical evaluations. In this paper, a multi-objective optimization problem has been proposed to formulate a unique design procedure that takes into account the contradicting design optimality criteria in terms of suitable general algorithms for workspace volumes, Jacobian matrices, and compliant displacements. Numerical examples are reported to show not just the feasibility but also the numerical efficiency of the proposed formulations.