Multi-criteria optimization of the parallel mechanism with actuators located outside working space

This paper addresses the development of automation of designing a parallel mechanism with actuators located outside the working space which in purpose to achieve an increase their working volume and load capacity. It is known that a parallel mechanism with singularity configurations can gain one or more degrees of freedom and become uncontrollable. That is it might not reproduce a stable motion under a prescribed trajectory. However, it is proved that there is possible passing through the singular zones. Therefore, the utility of using the approach determination of the twists inside singularity to rely on the theory of screws is considered. Besides, the method is used to propose optimal design of the parallel mechanisms, based on the multi-criteria optimization obtaining the Pareto set.