Shape optimization for the inscribed workspace of a prismatic actuated 2PRR parallel robot

Abstract

The main goal of this paper is to analyze a set of geometric shapes inscribed in the workspace of a prismatic actuated 2PRR parallel robot by optimizing either the geometric parameters of the inscribed shape to maximize the total area achievable or the parameters of the robot to achieve the best fit for the imposed shape. The goal presented above is implemented analytically by using the equations that describe the whole shape of the workspace and determining the equations of the imposed shape by determining the intersection or the tangency points of the imposed shape with the whole shape of the workspace. The equations that define the shape inscribed in the workspace are used in the optimization process by determining the parameter configuration that maximizes the area. Furthermore, the optimization process was implemented with Dassault Systems Solidworks library, Design Study, and the results were compared with the analytical solution.