Workspace analysis and parameter optimization of a six DOF 6-3-3 parallel link machine tool

Abstract

Taking the 6-3-3 parallel mechanism as the researching target and the inverse kinematics equation of the mechanism is built. Based on this, the relationships between the displacement of the slides and the full reachable workspace are deduced in the mathematic functions. Then boundary curves of the full reachable workspace are obtained by means of the algorithm of mathematical analysis under the traversed range of the slides, spherical joint fit corner and parallel bar interference constraints. And then the projection and section curve graphs of work space boundary surfaces are drawn. Finally, the relations between the full reachable workspace and the structure parameters are simulated, and the Genetic Algorithm is used to optimize the structural parameters in order to obtain the maximal workspace volume. © 2009 Springer-Verlag Berlin Heidelberg.