RESEARCH ARTICLE
Workspace Analysis and Optimization of 3-PUU Parallel Mechanism in Medicine Base on Genetic Algorithm
Yongchao Hou 1, Yang Zhao 2, *
Article Information
Identifiers and Pagination:
Year: 2015Volume: 9
First Page: 214
Last Page: 218
Publisher ID: TOBEJ-9-214
DOI: 10.2174/1874120701509010214
Article History:
Received Date: 10/4/2015Revision Received Date: 20/5/2015
Acceptance Date: 15/6/2015
Electronic publication date: 31/8/2015
Collection year: 2015
open-access license: This is an open access article licensed under the terms of the (https://creativecommons.org/licenses/by/4.0/legalcode), which permits unrestricted, noncommercial use, distribution and reproduction in any medium, provided the work is properly cited.
Abstract
A novel 3-PUU parallel robot was put forward, on which kinematic analysis was conducted to obtain its inverse kinematics solution, and on this basis, the limitations of the sliding pair and the Hooke joint on the workspace were analyzed. Moreover, the workspace was solved through the three dimensional limit search method, and then optimization analysis was performed on the workspace of this parallel robot, which laid the foundations for the configuration design and further analysis of the parallel mechanism, with the result indicated that this type of robot was equipped with promising application prospect. In addition that, the workspace after optimization can meet more requirements of patients.