Multiobjective optimal design of a simplified P4R mechanism

A simplified P4R mechanism, which is believed to be new, is presented. This mechanism has base-mounted actuators and for a given displacement at any output point along its output link, the required actuator displacements can be found very easily. An optimal design model of the mechanism with two design objectives is developed in order to (i) minimize a measure of the actuator torques, and (ii) maximize the workspace area. The requirements on dexterity, singularity, and size of the mechanism form the constraints of the model. Several design tradeoff solutions with the same dexterity are reported.