Multiobjective Optimization of 6-DOF Parallel Manipulator for Desired Total Orientation Workspace

Table 4

The maximal and minimal length of 3 legs.

Step length	Numerical method		Hybrid method
	5mm, 1°	2mm, 1°	1°
Maximum(mm)	1041.0121	1041.0121	1041.0121
pose	(35,-35,50,5,8,10)	(35,-35,50,5,8,10)	(35,-35,50,5,8,10)
Minimum(mm)	796.3186	796.3167	796.3160
pose	(-20,-35,-50,-5,-8,-10)	(-23,-35,-50,-5,-8,-10)	(-22.01,-35,-50,-5,-8,-10)
time/s	457.47	8425.23	0.33