A multi-objective optimum design of general 3R manipulators for prescribed workspace limits

Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem

“…In general, this approach solves a large optimization problem that minimizes a performance criterion while satisfying kinematic and dynamic constraints. The task-based design optimization has been widely applied to manipulators [22,5,28] and parallel manipulators [17,7,30] for reaching desired workspace and avoiding joint singularities. However, there exist only a few studies on under-actuated robots, such as pipe-cleaning robots [15], stair-climbing mobile robots [16], virtual creatures [29,10], or quadrupeds [12] due to complexity of required models.…”

A Comparative Study Using Shuffled Complex Evolution and Differential Evolution Applied to Robotic Manipulator Design

“…Saramago et al [30] proposed a form of characterizing the workspace boundary, formulating a general analytic condition to deduce the existence of cusp points at the interior and exterior boundaries of the workspace. Ceccarelli and Lanni [8] presented a suitable formulation for the workspace that can be used in the design of manipulators, which was formulated as a multi-objective optimization problem using the workspace volume and robot dimensions as objective functions. Bergamaschi et al [3,4] studied the design of manipulators with three-revolute joints (3R) using an optimization problem that takes into account the characteristics of the workspace.…”

Evolutionary Design of a Robotic Manipulator for a Highly Constrained Environment

“…Amidst several works presented for optimal designs of fundamental robots, Snyman et al utilized in [19] Evolutionary Algorithms for the design of a 3R industrial robot while aiming at minimizing joint torque over an entire given trajectory. Another eminent contributions by Ceccaralli and Lanni ( [20]) and Carbone et al in [21] involved the formation of the robot design problem as multiobjective optimization problems. However, the complexity associated with cluttered environments and larger number of degrees of freedom is left unaddressed.…”