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

Table 5

Constraints for three-variable optimization of the PRS.

0.125 [m] < < 0.175

0.070 [m] < < 0.125 [m]

0.300 [m] < < 0.450 [m]