Mir Amin Hosseini
HamidReza Mohammadi Daniali

In the research, six degrees of freedom Hexapod parallel machine tool is studied and investigated. Jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on Jacobian matrix. Geometric parameters of Cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, and implementing Genetic Algorithm in MATLAB software workspace. For the manipulator workspace, isotropy indices, minimum and maximum singular values are calculated. The optimization operation has lead to two different designs of manipulators, namely the isotropic design, and high resolution Cartesian workspace.