A framework for the analysis, synthesis and optimization of parallel kinematic machines

Analysis and design of parallel robots are often treated separately due to different methods. Thus, a framework is needed to combine important aspects of both tasks. In this paper, it is shown that workspace calculation/verification and synthesis/optimization can be summarized within the context of an interval analysis based constrained global optimization. Specializing this general formulation leads to a flexible technique which can be used to solve each of the aforementioned subtasks. In this setting, the constraints specify the machine's properties like size and quality of the workspace of the machine. Starting with workspace calculation for some criterions, one extends the requirements and seamlessly advance to parameter synthesis and optimization. These techniques present a framework for workspace calculation, parameter design, and optimization which allows for analysis and synthesis by means of the same model. The method is demonstrated for a 6 d.o.f. Gough-platform.