Multiple-criteria kinematic optimization for the design of spherical serial mechanisms using genetic algorithms

Xiaoli Zhang, Carl A. Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
Pages819-827
Number of pages9
EditionPARTS A AND B
DOIs
StatePublished - Dec 1 2010
EventASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 - Montreal, QC, Canada
Duration: Aug 15 2010Aug 18 2010

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume2

Conference

ConferenceASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
CountryCanada
CityMontreal, QC
Period8/15/108/18/10

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ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Zhang, X., & Nelson, C. A. (2010). Multiple-criteria kinematic optimization for the design of spherical serial mechanisms using genetic algorithms. In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 (PARTS A AND B ed., pp. 819-827). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2, No. PARTS A AND B). https://doi.org/10.1115/DETC2010-28368