Optimization of a Gough-Stewart platform for a prescribed attainable workspace

This paper presents a genetic algorithm approach to determine the architect ural parameters of a Stewart-Gough platform that has a workspace as close a s possible to a prescribed workspace. The algorithm used determines the int ersection between the actual workspace and the prescribed one. The genetic algorithm then optimizes 26 architectural parameters to minimize the area o f the regions that do not intersect. The optimization can be performed for a fixed orientation of the platform, for an orientation that varies about a certain axis, or for different platform elevations. (C) 2001 Published by Elsevier Science Ltd. All rights reserved.