Structural optimization and analysis of pneumatic 6-DOF parallel platform

In this paper, a description of the structural optimization design and analysis of the pneumatic 6-DOF parallel platform will be given. Research on the pneumatic 6-DOF parallel platform is done from the optimization design of the platform structure. To achieve better performance indicators which including the workspace volume, global conditioning index and natural frequency, a series of structural parameters are optimized. With the support of the optimization result, a platform for experimenting is manufactured and assembled. Experiment can give help to find some questions which are not noticed in design stage. So some improvements on control strategy are taken so as to the platform has a small trajectory tracking error.