Multi-criteria Design Optimization of Parallel_Robots

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 hypersurface.
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.