Multi-objective optimization on dynamic performance for a planar parallel mechanism with NSGA-II algorithm

For a high-speed and high-acceleration planar parallel mechanism, a design for control (DFC) approach is proposed for the optimization of the mechanism structure. Several evaluation indexes of kinematics and dynamics performance are established for the object functions and constraints, and then a standard multi-objective optimization problem can be formed. The dimension synthesis is carried out by solving the multi-objective optimization with NSGA-II (non-dominated sorting genetic algorithm-II) algorithm. The final result shows that the mechanism with the optimized parameters can eliminate the systematic coupling and enhance the dynamic performance greatly, which provides a solid mechanism hardware platform for designing the high-speed control system.