Optimal trajectory planning of 3RRR parallel robot using ant colony algorithm

Abstract

By taking 3RRR planar parallel robot the object of this study, this work presents an optimal trajectory planning of 3 RRR parallel robot. Indeed, Parallel robot is fundamentally a closed-loop kinematic chain mechanism in which the end-effector is connected to the base by several independent kinematic chains. Due to the potential advantages of parallel robots such as high rigidity, high accuracy and great carrying payload capability, they have fascinated significant attention and interest amongst the researchers in the past decade. After describing the mechanism, a kinematic analysis is reported. Based on the geometry of the manipulator, a workspace analysis is performed and an optimal trajectory is defined using ant colony algorithm in order to avoid singular configurations and optimize the kine-tostatic performances of the manipulator.