Optimal Kinematic and Elastodynamic Design of Planar Parallel Robot with Flexible Joints

This paper proposes a procedure for the optimal design of a flexible-joint planar parallel robot based on the kinematic and elastodynamic performance criteria. The optimal design consists of determining the dimensions of links to maximize the size of the workspace and the elastodynamic performance simultaneously. Consequently, the optimal design is performed using a multi-objective optimization that permits to obtain the set of the optimal solutions. The set of the optimal solutions are analyzed by assessing the properties of four different solutions to establish the appropriate solution the accomplished a specific task.