Synthesis of Stewart Platform for Prescribed Workspace with Orienting Capabilities

摘要

A genetic algorithm is proposed to synthesize a Stewart platform, which includes a desired workspace with orienting capabilities in a given 3D region. It is observed that the constant orientation workspace gets smaller as the given orientations increase, a simple method is proposed to describe the workspace with orienting capabilities, which need only search the constant orientation workspaces with the eight sets of extreme orientations of given 3D region and use their common part. A numerical example is given to verify the method. The GA is used to optimize architectural parameters and obtain a compact manipulator.