Multi-objective Optimization of a Tripod Parallel Mechanism for a Robotic Leg

This paper presents the multi-objective optimization of a three-degree-of-freedom parallel manipulator. First, the geometry of the mechanism is described and its kinematic and static performance is characterized with closed-form expressions of workspace volume and force efficiency. These indices are used as objective functions of the optimization, which is then conduced in order to compute the optimal design of the manipulator. Finally, the results of the multi-objective optimization are reported and discussed.

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