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

<table class="fixed-width table-group" id="tab7"><tr><td><table class="table"><colgroup><col style="width:4.87em"/><col style="width:5.75em"/><col style="width:4.37em"/><col style="width:4.19em"/><col style="width:4.86em"/><col style="width:3.79em"/><col style="width:7.87em"/></colgroup><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr class="thead"><td class="align_left"><i>Solutions</i></td><td class="align_center"><svg height="11.4351pt" id="M263" style="vertical-align:-5.47419pt" version="1.1" viewbox="-0.0498162 -5.96091 24.4338 11.4351" width="24.4338pt" 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="M393 379C402 394 400 411 393 422C384 437 365 448 348 448C301 448 237 372 186 285H182L193 335C210 408 205 448 178 448C150 448 80 402 29 344L45 321C80 355 114 373 122 373C128 373 130 365 124 330C106 228 76 98 50 -5L57 -12C82 -5 112 3 132 6L172 203C196 256 234 304 254 329C275 355 293 367 306 367C318 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transform="matrix(.0091,0,0,-0.0091,44.355,3.132)"><path d="M237 -163V704H62V672C170 663 172 660 172 582V-40C172 -118 170 -122 62 -131V-163H237Z"></path></g></svg></span></td><td class="align_center"><span style="width: 9.58606ptpx;"><svg height="8.8423pt" id="M268" style="vertical-align:-0.2064009pt" version="1.1" viewbox="-0.0498162 -8.6359 9.58606 8.8423" width="9.58606pt" 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="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z"></path></g></svg></span></td><td class="align_center"><i>Reachable Points</i></td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left">(1)</td><td class="align_center">0.127/0.071</td><td class="align_center">0.4550</td><td class="align_center">0.2928</td><td class="align_center">0.3739</td><td class="align_center">1.2505</td><td class="align_center">11592</td></tr><tr><td class="align_left">(2)</td><td class="align_center">0.127/0.072</td><td class="align_center">0.4552</td><td class="align_center">0.2926</td><td class="align_center">0.3739</td><td class="align_center">1.2503</td><td class="align_center">11588</td></tr><tr><td class="align_left">(3)</td><td class="align_center">0.128/0.071</td><td class="align_center">0.4554</td><td class="align_center">0.2929</td><td class="align_center">0.3742</td><td class="align_center">1.2486</td><td class="align_center">11588</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Leg lengths for optimum parameters of the PRS.</div>

Journal of Robotics

tab7

Table 7

Table 7: SQP Optimization of 6dof 3x3 UPU Parallel Robotic System for Singularity Free and Maximized Reachable Workspace 