This paper presents a novel robust optimal design for parallel manipulators to optimize the performance indices subject to the unavoidable effect of the uncertainties. The robust optimization proposed in the present contribution consists of a multi-objective optimization problem that aims at maximizing the performance index and robustness criterion simultaneously. The design variables should be adjusted to minimize the effects of the uncertainties and maximize the performance index. The single-objective optimization problem is also carried out to evaluate the optimal design obtained by using the proposed robust optimization approach. Numerical results illustrate the benefits of the proposed robust optimization applied to the optimal kinematic design of a parallel Cartesian manipulator with clearances and the optimal dynamic design of a Stewart–Gough platform.

本文提出了一种新颖的并行机械手鲁棒优化设计，以优化受不确定性影响的性能指标。本贡献中提出的鲁棒优化包括一个多目标优化问题，旨在同时最大化性能指标和鲁棒性标准。应调整设计变量以最小化不确定性的影响并最大化性能指标。还进行了单目标优化问题，以评估使用所提出的鲁棒优化方法获得的优化设计。