Design, Analysis, and Optimization of a Kinematically Redundant Parallel Robot

It has been nearly 60 years since the introduction of Gough–Stewart manipulator (GSM). With advantages superior load capacity and high precision, GSM still plays an important role in many fields. However, limitations such as a small workspace complex singularities. To overcome these problems, novel kinematically redundant parallel robot is designed with three actuators added on basis GSM. First, structure proposed introduced, kinematics established. Second, workspaces are analyzed, results show that position volume maximum torsion orientation angles can be improved effectively. Third, singularities compared based Jacobian matrices. Finally, multi-parameter, multi-objective optimization used to optimize geometric parameters robot, experimental prototype results.