Abstract
This paper presents an optimization method using change of singularity distribution by difference in composition of a parallel mechanism. Singularity cannot be lost on characteristic of the parallel mechanism. Therefore, this paper aimed that change of various mechanism parameters influence distribution of the singularities. Link length, motor arrangement position and motor installation height are selected as the mechanism parameter for optimization of composition. Also, in order to research in the area specified by a user, end-plate coordinate is divided six areas by 60°. At the last, consideration is added to composition of mechanism simulated with a downhill simplex method.
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