The Multi-objective path placement optimization of parallel kinematic machines

Küçük, Ali
The aim of this study is to obtain optimal position and orientation of a trajectory frame with respect to the fixed frame of the manipulator. The work path which is given in the trajectory frame is also constrained in the workspace of the 3 – PRS parallel kinematic machine. In the analysis, forward and inverse kinematics solutions are derived as well as the inverse dynamics model using Lagrange’s Method. Several algorithms governing the motion of the manipulator are developed. Moreover, optimization goals are defined and evaluated with the genetic algorithm.