Original Article

Optimum design of a 4-PSS-PU redundant parallel manipulator based on kinematics and dynamics Liping Wang1,2, Binbin Zhang1 and Jun Wu2 This paper presents an optimum design of a 4-PSS-PU redundant parallel manipulator by taking the workspace, condi-tioning performance, and acceleration into account. On the basis of rank of the Jacobian matrix, a method to directly find out the workspace is presented, rather than the search method. Based on the dynamic model, a maximum acceleration index is defined. The corresponding atlases of these performance indices are represented graphically in the established design space. Based on these atlases, the optimum design is performed and the optimum region is determined. It is expected to realize the high acceleration of parallel manipulators by using the optimum method