Structure Optimization of a Parallel Robot Mechanism Based on Driving Velocity

The optimization method for the structure of a 6-DOF parallel robot mechanism is presented for minimizing the driving velocity. Firstly, the velocity model is given according to the kinematics theory of rigid body, which effectively avoids the fussy derivation process. The velocity target function is obtained by inequality transformation. Finally the optimization is performed by GA with global search capability. Comparison result verified the optimization method.