Design Optimization And Synthesis Of Manipulators Based On Various Manipulation Indices

Abstract

Design optimization of serial manipulators involves striking a balance between an appropriate joint angle and exact link lengths. The optimization technique used in this thesis uses a unique algorithm that optimizes the joint angle through an Inverse Kinematics program. The synthesis problem involves setting up an accurate design length so as to reach a set of given target points inside the workspace without any singularity. The optimization process based on task specification focuses on the maximization of manipulability index, the objective function subjected to link length and joint angle constraints. The results obtained were plotted and animated to visualize the link movements in achieving the target locations.