Table 3 Parameter values involved in the optimization calculation

Maximum boundary of designation variables [L_0max, L_1max, L_2max] (mm)

[1000, 3500, 2500]

Minimum boundary of designation variables [L_0min, L_1min, L_2min] (mm)

[400, 2500, 1500]

Rotation speed’s normalization factors [c_v1, c_v2, c_v3] (s/rad)

[11.46, 11.46, 11.46]

Translation speed’s normalization factors c_v4 (s/mm)

0.02

Acceleration’s normalization factors [c_a1, c_a2, c_a3] (s²/m)

[0.2251, 0.2251, 0.2251]

Moving range’s normalization factors [c_t1, c_t2] (/rad)

[2.046, 2.046]

Moving platform’s size L₃ × L₄ (m × m)

2.5 × 1.5

Height of the robot’s COM h (mm)

700

Robot’s mass m_r (kg)

90

Moving platform’s mass m_p (kg)

20

Active pairs’ max speed \({\dot{\varvec{Z}}}_{\text{max} }\) (mm/s)

[250, 250, 250, 250]^T

Max driving force F_max (N)

[1450, 1450, 1450, 1450]^T

Upper boundary of platform’s rotation angle [θ_rmax, θ_pmax, θ_ymax] (°)

[15, 29]

Lower boundary of platform’s rotation angle [θ_rmin, θ_pmin, θ_ymin] (°)

[− 15, − 28, − 28]

Upper boundary of platform’s translation distance z_max (mm)

300

Lower boundary of platform’s translation distance z_min (mm)

0

Discrete point number N

30

Gravity acceleration vector g (m/s²)

[0, 0, − 9.8]^T