NDLI: Multi-criteria Design Optimization of Parallel Robots

Content Provider	IEEE Xplore Digital Library
Author	Unal, R. Kiziltas, G. Patoglu, V.
Copyright Year	2008
Description	Author affiliation: Mechatron. Program, Sabanci Univ., Istanbul (Unal, R.; Kiziltas, G.; Patoglu, V.)
Abstract	This paper presents a framework for multi-criteria design optimization of parallel mechanisms. Pareto methods characterizing the trade-off between multiple design criteria are advocated for multi-criteria optimization over widely used scalarization approaches and Normal Boundary Intersection method is applied to efficiently obtain the Pareto-front hyper-surface. The proposed framework is compared against sequential optimization and weighted sum approaches. Dimensional synthesis of a sample parallel mechanism (five-bar mechanism) is demonstrated through estimation of the relative weights of performance indices that are implicit in the Pareto plot. The framework is computational efficient, applicable to any set of performance indices, and extendable to include any number of design criteria that is required by the application.
Starting Page	112
Ending Page	118
File Size	4940556
Page Count	7
File Format	PDF
ISBN	9781424416752
DOI	10.1109/RAMECH.2008.4681427
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Design optimization Parallel robots Kinematics Mechatronics Pareto optimization Optimization methods Computational efficiency Aggregates Orbital robotics Manipulators optimal design of parallel robots Multi-criteria design optimization dimensional synthesis of parallel mechanisms
Content Type	Text
Resource Type	Article

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