Geometrical synthesis of star-like topology parallel manipulators with a genetic algorithm

This paper presents the results of the implementation of a genetic algorithm for the geometrical synthesis of star-like topology parallel manipulators. The algorithm allows one to use several design criteria while considering a population of potential designs. The algorithm has proven to be simple and effective. Although the Y-star parallel manipulator is the design that possesses the greatest percentage of its workspace having a good dexterity, it is not the one that produce the largest workspace volume or the largest cubic volume inscribed within its workspace