GA-based dynamic manipulability optimization of a 2-DOF planar parallel manipulator

Dynamic manipulability is a very important issue that should be considered for problems of parallel manipulator design. In order to study the dynamic optimization of a 2-DOF planar parallel manipulator, which is used in a heavy duty hybrid machine, genetic algorithm (GA) is used in the dynamic manipulability optimization. Based on the kinematic analysis, the dynamic equation of the 2-DOF parallel manipulator is derived using the virtual work principle method. Furthermore, global dynamic manipulability (GDM) is introduced to measure the dynamic performance of the manipulator. Then the dynamic optimization based GA method is analyzed. From the numerical simulation, it is proved that the dynamic optimization considering GDM proposed in this paper can ameliorate the dynamic performance of the parallel manipulator well.