1. The Optimum Design of a 6-DOF Parallel Manipulator with Large Orientation Workspace
Yoon-Kwon Hwang*, Jung-Won Yoon**, Christiand**,
and Je-Ha Ryu*** *Technical Research Institute, Hyundai Mobis Co., Korea **School of Mechanical and Aerospace Eng., Gyeongsang, University,Korea
***Dept. of Mechatronics, GIST, Korea
To optimize the design parameters of the parallel manipulator with large orientation workspace at the boundary position of COW.
The method uses a genetic algorithm considering compactness of size, GCI, orientation angle as the constraints.
Total fifteen types are divided and studied according to the combination of performance indices, and the best model is proposed.
The proposed 6-DOF haptic device with capstan drives.