Optimization of Stiffness and Dexterity of Fiber Driven Parallel Kinematical Structure

Václav Bauma, Zbyněk Šika, Michael Valášek


The paper deals with the optimization of fiber driven parallel kinematical structures. It is the primary study of geometrical layout and basic properties of two types of these structures. Both structures consist of platform, driven by eight fibers (first platform is moving by general spatial motion with six degrees of freedom (DOFs), second is moving by spherical motion with three DOFs). Fibers from the platform leads over pulleys fixed to the base frame to linear motors moving also on the base frame. Both platforms are redundantly actuated. Using three global computational tools for stiffness, dexterity and collisions we are able to find optimum variant of geometrical layout of the structure. In the future, optimization program must be more detailed and must be equipped by additional routines for computation dynamics, kinematical accuracy and calibratability.


Parallel kinematic machine; Fiber driven structure; Optimization; Stiffness; Dexterity; Collisions

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ISSN 1801-1217 (Print)
ISSN 1805-9422 (Online)
Published by the Czech Technical University in Prague, Faculty of Mechanical Engineering