Workspace Optimization of a Flexure-Based 3RRR Parallel Robot with Joint Angle Constraints

Abstract

The optimization of flexure-based planar parallel robots with traditional methods demands significant computational resources due to the coupling of kinematic and structural effects. This work presents a decoupled optimization approach, in which the geometry of the manipulator is optimized for workspace via a kinematic model approach. A novel approach is presented via a modified Moore boundary following algorithm which provides for an efficient calculation of the workspace. With this approach, the optimal kinematic design parameters, namely the leg ratio and initial orientation of the end effector are determined and presented for a number of cases described by the combination of joint angle constraints.