A new kinematic design methodology is presented for optimization of spherical serial mechanisms. This method integrates multiple criteria (workspace, manipulability, and size) linearly in one objective function. All these criteria are optimized simultaneously to lead to a more realistic solution. By changing the priorities of each criterion, different sets of desirable kinematic performance can be expressed. The global manipulability and the uniformity of manipulability over the workspace are combined in a single index to improve the synthesis results. The optimization result for a spherical bevel-geared mechanism using a genetic algorithm demonstrated that the proposed method effectively improves the quality of the optimum solution and provides insight into the workings of the mechanism. In addition, this flexible and adaptable methodology may also be extended for use in general optimization for linkage synthesis.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanisms Using Genetic Algorithms
Xiaoli Zhang,
Xiaoli Zhang
University of Nebraska-Lincoln, Lincoln, NE
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Carl A. Nelson
Carl A. Nelson
University of Nebraska-Lincoln, Lincoln, NE
Search for other works by this author on:
Xiaoli Zhang
University of Nebraska-Lincoln, Lincoln, NE
Carl A. Nelson
University of Nebraska-Lincoln, Lincoln, NE
Paper No:
DETC2010-28368, pp. 819-827; 9 pages
Published Online:
March 8, 2011
Citation
Zhang, X, & Nelson, CA. "Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanisms Using Genetic Algorithms." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 819-827. ASME. https://doi.org/10.1115/DETC2010-28368
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