Multi-objective Design Optimization of a Parallel Schönflies-motion Robot

This paper introduces a parallel Schoenflies-motion robot with rectangular workspace, which is suitable for pick-and-place operations. A multi-objective optimization problem is formulated to optimize the robot's geometric parameters with consideration of kinematic and dynamic performances. The dynamic performance is concerned mainly the capability of force transmission in the parallel kinematic chain, for which transmission indices are defined. The Pareto-front is obtained to investigate the influence of the design variables to the robot performance. Dynamic characteristics for three Pareto optimal designs are analyzed