Leletko

One-section and two-section manipulators based on parallel kinematics “hexapod” mechanism are considered. Linear and angular dimensions optimization problem is set. Minimal guaranteed suppleness of construction under applied force is used as criterion of optimality. The research is carried out by means of MatLab software system. MatLab program implementing SQP optimization method is used for solving the optimization problem. Mathematical models of manipulators are obtained by means of MatLab/Simulink system.