Wrench capability polytopes in redundant parallel manipulators

Abstract

In this paper the characteristic wrench capability polytope of three different planar parallel manipulators is obtained from the optimization of its static equations. In order to solve the problem regarding the global optimization, an evolutionary algorithm known as differential evolution (DE) is used. The objective function of the optimization problem of force capability is defined by employing the screw theory and Davies method as a primary mathematical tool. Finally, some force capability polytopes are obtained for each studied manipulator.