Inverse kinematics analysis of a parallel redundant manipulator by means of differential evolution

摘要

This paper presents a novel redundant parallel manipulator. The inverse kinematics model is studied, which is based on matrices and geometric algorithm. The static stiffness of manipulator is discussed in this paper. To achieve a minimum deflection in inverse kinematics problem the differential evolution method is used. In inverse kinematics solution the links motion of manipulator to avoid collision and joints limit are considered.