Minimization of joint reaction forces of kinematic chains by a multi-objective approach
The paper describes a procedure of simultaneous minimization of joint reaction forces of planar kinematic chains. The best design is sought using the methods of mathematical programming. The optimization model of the kinematic chain is based on a multi-objective approach where the objective functions may be related to the generalized joint forces. The design variables are the geometric parameters of the links. The implementation of the optimization model is illustrated with two examples. The first example considers the minimization of joint reaction forces of an open loop system of a two-arm manipulator. The second example considers optimization of a closed loop system representing a four-bar mechanism being an actual part of a hydraulic support employed in the mining industry.
kinematic chain mathematical programming generalized joint forces multi-objective optimization