Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanisms Using Genetic Algorithms

@inproceedings{Nelson2010MultipleCriteriaKO,
  title={Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanisms Using Genetic Algorithms},
  author={Carl A. Nelson},
  year={2010}
}
A new kinematic design methodology is presented for optimization of spherical serial mechanisms. First, a new index, combining global manipulability and the uniformity of manipulability over the workspace, is presented to improve the synthesis results. This method integrates multiple criteria (workspace size, the new manipulability index, and mechanism size) linearly in one objective function. All these criteria are optimized simultaneously to lead to a solution with better performance. By… CONTINUE READING
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