Abstract
In order to optimize the kinematic and dynamic performance of a 2-DoF planar parallel mechanism used in hybrid machines, a multi-objective optimization method is introduced. Based on the compare of the common kinematic analysis method and dynamic analysis method, the kinematic and dynamic performances evaluation indices which can be used in the performance optimization are introduced. Then a multi indices optimization method based on genetic algorithm is investigated to achieve the multi performance optimization of the parallel mechanism. In the optimization method, the kinematic, stiffness and dynamic performances are improved by optimizing the geometric and structural parameters of the parallel mechanism. The simulation result indicates that the optimization method is of practical value to improve the development of the parallel mechanism.
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