Utilization of differential evolution in inverse kinematics solution of a parallel redundant manipulator

A novel type of redundant parallel manipulator is presented and studied. The inverse kinematics model of the manipulator is postulated. The static stiffness of the manipulator is discussed. To achieve a minimum deflection in the solution of the inverse kinematics problem the differential evolution method is used. In the inverse kinematics solution also the appropriate link motions to avoid collision and joint limits are selected.