Optimal Design of 2 DOF Parallel Kinematics Machines

The aim of this paper is to show the usefulness of the multicriteria approach to optimize the Parallel Kinematic Machines (PKM). Variations of the kinematic performances index remain not constant throughout workspace. Aiming to deal at the same time with multiple criteria in optimal design of PKM, we have developed a Multi-Objective Genetic Algorithm (MOGA) using concepts of Pareto optimality and niching techniques. The obtained results have shown that the use of MOGA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)