Optimization of a Hexapod Micro Parallel Robot Using Genetic Algorithms

  • Sergiu-Dan Stan
  • Vistrian Maties
  • Radu Balan
  • Ciprian Lapusan


In this paper a mono-objective optimum design procedure for a six-degree of freedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using Genetic Algorithms.


Genetic Algorithm Parallel Manipulator Parallel Robot Singular Configuration Reachable Workspace 
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Copyright information

© Springer Science+Business Media B.V. 2008

Authors and Affiliations

  • Sergiu-Dan Stan
    • 1
  • Vistrian Maties
    • 1
  • Radu Balan
    • 1
  • Ciprian Lapusan
    • 1
  1. 1.Department of MechatronicsTechnical University of Cluj-Napoca Cluj-Napoca, C. Daicoviciu no. 15Romania

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