RESEARCH ARTICLE

Workspace Analysis and Optimization of 3-PUU Parallel Mechanism in Medicine Base on Genetic Algorithm

The Open Biomedical Engineering Journal 31 Aug 2015 RESEARCH ARTICLE DOI: 10.2174/1874120701509010214

Abstract

A novel 3-PUU parallel robot was put forward, on which kinematic analysis was conducted to obtain its inverse kinematics solution, and on this basis, the limitations of the sliding pair and the Hooke joint on the workspace were analyzed. Moreover, the workspace was solved through the three dimensional limit search method, and then optimization analysis was performed on the workspace of this parallel robot, which laid the foundations for the configuration design and further analysis of the parallel mechanism, with the result indicated that this type of robot was equipped with promising application prospect. In addition that, the workspace after optimization can meet more requirements of patients.

Keywords: Genetic algorithm, kinematics, limit search method, optimization analysis, parallel mechanism, workspace.
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