Mathematical Problems in Engineering / 2019 / Article / Tab 4

Research Article

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

Table 4

The maximal and minimal length of 3 legs.

Step lengthNumerical methodHybrid method
5mm, 1°2mm, 1°

Maximum(mm)1041.01211041.01211041.0121
pose(35,-35,50,5,8,10)(35,-35,50,5,8,10)(35,-35,50,5,8,10)
Minimum(mm)796.3186796.3167796.3160
pose(-20,-35,-50,-5,-8,-10)(-23,-35,-50,-5,-8,-10)(-22.01,-35,-50,-5,-8,-10)
time/s457.478425.230.33

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