Kinematics analysis of a parallel machine tool based on genetic algorithms

This paper presents the kinematics analysis of a novel 5-UPS/PRPU 5-degree-of-freedom parallel machine tool based on genetic algorithms. The characteristic of the parallel machine tool is described and the mathematic expression of the 5-UPS/PRPU parallel machine tool’s velocity mapping matrix is derived. The genetic algorithms is introduced in the search of the singular configuration and the extrema of the kinematics performance of the parallel machine tool. The non-singular workspace of the parallel machine tool and the corresponding extrema of the kinematics performance evaluation indices are obtained. The numerical analysis results prove the effectiveness of the algorithm.