Singularity Characterization And Path Planning Of A New 3 Links 6-dofs Parallel Manipulator

摘要

This paper presents singularity characterization and optimal path planning for a new three links six degrees-of-freedom (DOFs) parallel manipulator. To achieve high speed handling and machining, the base platform is equipped with three linear slideways each one actuated by a linear DC motor, and each extensible vertical link connecting the upper and base platforms is actuated by an inductive AC servo motor. Characterization of workspace, singularity, and development of an optimal path planner are presented. Our special emphases are on characterization of the platform singularity using genetic algorithms (GAs) and singularity avoidance of the path planning based on a DNA evolutionary-computing algorithm. We propose a path planning scheme whose coding technique speeds up the execution of search for fast path generation within the feasible workspace.