Structure-control mechatronic design of the planar 5R 2DoF parallel robot

In this paper, a concurrent design methodology to formulate the mechatronic design problem of the planar five revolute two degrees of freedom (5R 2DoF) parallel robot and its PID controller is presented. This methodology involves a synergetic design of the mechanical structure and the control system. A nonlinear dynamic optimization problem is stated for this approach and two optimization techniques, one based on a nonlinear programming technique and the other based on a novel evolutionary approach, are used to solve it. Finally, the optimal mechanical structure and controller parameters show the effectiveness of the proposed approach via simulation and experimental results.