APPLYING GENETIC ALGORITHM TO THE PROBLEM OF OPERATION FORCE OF PARALLEL MANIPULATORS

This paper firstly presents the problem of operation force of parallel manipulators in the workspace design. An optimum model is built according to the characteristics of the solution to problem of the operation force. Applying GA to the problem, we get the conservatively maximum operation force. It shows that the rate of convergence is high by an example, and indicates that the method is effective.