Singularity-Free Taskspace Optimization of 6-RSS Mechanisms
A method to calculate the volume of constant-orientation taskspace of parallel manipulators is developed and applied on the 6-RSS mechanism as an example. The taskspace is defined as a singularity-free reachable workspace. Quasi-singularity measure is used to measure the closeness to singular configurations and construct the quasi-singularity zone. Analyzed by DOE (Design of Experiment), effect weighs of design variables of a parallel manipulator are revealed and experiment results are applied in the optimization process. In order to obtain the maximum taskspace, the volume of the constant-orientation taskspace is optimized by a structured optimization process aided by iSIGHT-FD software. Finally, constant-orientation taskspace of greater volume is obtained.