Determination of maximal singularity-free zones in the workspaces of parallel mechanisms based on PSO

In this paper, a new procedure is introduced based on PSO to determine maximal singularity-free zones of the 3-RPR parallel mechanisms. Because of the limited workspace of parallel manipulators cluttered with different types of singularities, a simple and robust technique to determine the singularity-free zones in the workspace of parallel manipulators is highly required. Numerical examples are given in order to graphically illustrate the effectiveness of the procedure. The proposed approach can be applied to analyze other similar parallel mechanisms.

Keywords:

Parallel mechanisms , Singularitiy-free , Optimazation , PSO