Increasing workspace and trajectory planning of the parallel robot PAR4

In this paper, increasing workspace and trajectory planning of the parallel robot PAR4 are presented. First, the tracing of workspace is achieved by the inverse kinematic model, then increasing workspace is determined using the method optimization of parameters by the algorithm Simulated Annealing greatly improve the work volume of the parallel robot. Second, the planning trajectory of the robot PAR4 is determined due to the method S-curve and, optimization of the trajectory. Numerical results are presented showing increasing workspace and optimization of the trajectory.