International Journal of Automation and Computing

, Volume 16, Issue 6, pp 748–760 | Cite as

Multi-objective Dimensional Optimization of a 3-DOF Translational PKM Considering Transmission Properties

  • Song LuEmail author
  • Yang-Min Li
  • Bing-Xiao Ding
Research Article


Multi-objective dimensional optimization of parallel kinematic manipulators (PKMs) remains a challenging and worthwhile research endeavor. This paper presents a straightforward and systematic methodology for implementing the structure optimization analysis of a 3-prismatic-universal-universal (PUU) PKM when simultaneously considering motion transmission, velocity transmission and acceleration transmission. Firstly, inspired by a planar four-bar linkage mechanism, the motion transmission index of the spatial parallel manipulator is based on transmission angle which is defined as the pressure angle amongst limbs. Then, the velocity transmission index and acceleration transmission index are derived through the corresponding kinematics model. The multi-objective dimensional optimization under specific constraints is carried out by the improved non-dominated sorting genetic algorithm (NSGA II), resulting in a set of Pareto optimal solutions. The final chosen solution shows that the manipulator with the optimized structure parameters can provide excellent motion, velocity and acceleration transmission properties.


Multi-objective optimization parallel kinematic manipulator transmission property non-dominated sorting genetic algorithm (NSGA II) 


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This work was supported by National Natural Science Foundation of China (Nos.51575544 and 51275353), the Macao Science and Technology Development Fund (No.H0/2013/A3) and Research Committee of University of Macau (Nos.MYRG2015-00194-FST and MYRG203 (Y1-L4)-FST11-LYM).


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Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Electromechanical EngineeringUniversity of MacauTaipa, MacaoChina
  2. 2.Department of Industrial and Systems EngineeringThe Hong Kong Polytechnic UniversityKowloon, Hong KongChina
  3. 3.Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical SystemTianjin University of TechnologyTianjinChina

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