Structural Parameters Optimization of Parallel Stable Platform Based on Physical Programming

Based on the parallel stable platform of 6-UPS, Jacobi matrix condition number and driving force of six rods are respectively identified as kinematics evaluation index and dynamics evaluation index of the parallel stable platform. By using physical programming preference functions the comprehensive preference function are constructed. Thus, a multi-objective optimization problem is formulated as a single objective optimization problem. Structural parameters with best working performance are computed by the genetic algorithm. Simulation results in Matlab show that the performance of optimization platform has been improved.