SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace

<div>Coordinate systems, <svg height="11.5564pt" id="M1" style="vertical-align:-2.26807pt" version="1.1" viewbox="-0.0498162 -9.28833 16.5019 11.5564" width="16.5019pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M293 -169V-141C218 -131 209 -90 209 -44C209 19 222 85 222 152C222 207 198 255 139 269V273C199 286 222 334 222 388C222 454 209 523 209 588C209 632 218 671 293 681V709C234 709 148 695 148 577C147 513 155 438 155 372C155 337 152 291 64 285V256C152 250 155 204 155 169C156 105 148 31 148 -41C148 -157 234 -169 293 -169Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.511,0)"><path d="M46 650V622C120 617 128 613 128 525V125C128 42 120 34 40 28V0H311V28C221 34 212 39 212 124V281L286 262C297 261 316 261 331 263C429 275 526 338 526 468C526 533 501 579 462 609C422 638 364 650 293 650H46ZM212 559C212 588 215 600 223 606C230 613 251 618 279 618C361 618 430 572 430 464C430 337 350 302 285 302C252 302 225 309 212 314V559Z"></path></g><g transform="matrix(.013,0,0,-0.013,11.83,0)"><path d="M283 255V284C195 290 192 337 192 375C192 436 200 508 200 580C200 696 116 709 54 709V681C127 671 139 634 139 588C138 524 125 452 125 387C125 333 149 286 209 272V268C148 253 125 206 125 151C126 87 139 16 139 -47C139 -92 127 -131 54 -141V-169C115 -169 200 -152 200 -41C200 32 192 104 192 164C192 202 195 249 283 255Z"></path></g></svg> and <span class="nowrap"><svg height="11.5564pt" id="M2" style="vertical-align:-2.26807pt" version="1.1" viewbox="-0.0498162 -9.28833 16.8281 11.5564" width="16.8281pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M293 -169V-141C218 -131 209 -90 209 -44C209 19 222 85 222 152C222 207 198 255 139 269V273C199 286 222 334 222 388C222 454 209 523 209 588C209 632 218 671 293 681V709C234 709 148 695 148 577C147 513 155 438 155 372C155 337 152 291 64 285V256C152 250 155 204 155 169C156 105 148 31 148 -41C148 -157 234 -169 293 -169Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.511,0)"><path d="M372 352C427 368 507 407 507 502C507 548 486 592 451 616C420 638 376 650 301 650H44V622C124 616 128 610 128 527V123C128 40 122 34 36 28V0H257C336 0 402 12 453 40C512 72 548 124 548 191C548 291 471 335 372 350V352ZM213 362V558C213 591 216 602 226 608C235 614 258 618 282 618C377 618 415 558 415 490C415 406 369 362 260 362H213ZM213 328H258C380 328 450 283 450 181C450 76 377 35 296 34C231 34 213 53 213 125V328Z"></path></g><g transform="matrix(.013,0,0,-0.013,12.155,0)"><path d="M283 255V284C195 290 192 337 192 375C192 436 200 508 200 580C200 696 116 709 54 709V681C127 671 139 634 139 588C138 524 125 452 125 387C125 333 149 286 209 272V268C148 253 125 206 125 151C126 87 139 16 139 -47C139 -92 127 -131 54 -141V-169C115 -169 200 -152 200 -41C200 32 192 104 192 164C192 202 195 249 283 255Z"></path></g></svg>,</span> of SP.</div>

Journal of Robotics

fig1

Figure 1

Figure 1: SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace 