GA-based architecture optimization of a 3-PUU parallel manipulator for stiffness performance

Qingsong Xu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

13 Citations (Scopus)


In this paper, an optimal design of a three-prismatic-universal-universal (3-PUU) translational parallel manipulator is performed using the genetic algorithm (GA) to achieve optimum stiffness characteristics. The stiffness matrix is derived intuitively based upon an overall Jacobian with the consideration of actuation and constraints, and the compliance subjected to both actuators and legs is taken into account to establish the stiffness model. A global stiffness index defined as the mean value of the determinant of stiffness matrix over the reachable workspace is adopted as a stiffness measure, meanwhile the architectural parameters are optimized via a GA approach. The research results are valuable in the design of a 3-PUU parallel manipulator for machine tool applications.
Original languageEnglish
Title of host publicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
Number of pages5
Publication statusPublished - 1 Dec 2006
Externally publishedYes
Event6th World Congress on Intelligent Control and Automation, WCICA 2006 - Dalian, China
Duration: 21 Jun 200623 Jun 2006


Conference6th World Congress on Intelligent Control and Automation, WCICA 2006


  • Genetic algorithm
  • Mechanism design
  • Parallel manipulators
  • Stiffness
  • Workspace

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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