1 Introduction 1.1 Research Background 1.2 Performance Evaluation Indices 1.2.1 Workspaces 1.2.2 Kinematic Performance 1.2.3 Stiffness Performance 1.2.4 Dynamic Performance 1.3 Optimization Algorithm 1.3.1 Traditional Optimization Algorithms 1.3.2 Intelligent Optimization Algorithms 1.3.3 Ways to Improve Optimization Algorithms 1.4 Multi-Objective Optimization Methods 1.4.1 Comprehensive Objective Method 1.4.2 Pareto Frontier Method 1.4.3 PCA Method 1.5 Summary References 2 Kinematic Performance Analysis and Optimization of Parallel Manipulators Without Actuation Redundancy 2.1 Basics of Screw Theory 2.2 Condition Number Indices and Applications 2.2.1 Condition Number Indices 2.2.2 Example l: 6PSS PM 2.2.3 Example 2: 2-(PRR)2RH PM 2.2.4 Example 3: 2PRS-PRRU PM 2.3 Motion/Force Transmission Indices and Applications 2.3.1 Motion/Force Transmission Indices 2.3.2 Example 1: 6PSS PM 2.3.3 Example 2: 2PUR-PRU PM 2.3.4 Example 3: 2PUR-PSR PM 2.4 Motion/Force Constraint Indices and Applications 2.4.1 Motion/Force Constraint Indices 2.4.2 Example 1 : 2PUR-PRU PM 2.4.3 Example 2: 2PUR-PSR PM 2.5 Summary References 3 Motion/Force Transmission Performance Analysis and Optimization of Parallel Manipulators with Actuation Redundancy 3.1 Motion/Force Transmission Indices of Parallel Manipulators with Actuation Redundancy 3.2 Example 1: 6PSS-UPS PM 3.3 Example 2: 2UPR-2PRU PM 3.4 Example 3: 2PUR-2PRU PM 3.5 Summary References 4 Motion/Force Constraint Performance Analysis and Optimization of Overconstrained Parallel Manipulators with Actuation Redundancy 4.1 Motion/Force Constraint Indices of Overconstrained Parallel Manipulators with Actuation Redundancy 4.2 Example 1: 2UPR-2PRU PM 4.3 Example 2: 2PUR-2PRU PM 4.4 Summary References 5 Elastostatic Stiffness Evaluation and Optimization of Parallel Manipulators 5.1 Stiffness Performance Evaluation Index
5.2 Example: 2UPR-RPU PM 5.2.1 Stiffness Modeling 5.2.2 Stiffness Performance Optimization 5.3 Summary References 6 A Methodology for Optimal Stiffness Design of Parallel Manipulators Based on the Characteristic Size 6.1 Methodology for the Optimal Stiffness Performance Design of PMs 6.2 Example 1: Optimal Stiffness Performance Design of the 2UPR-RPU PM 6.3 Example 2: Optimal Stiffness Performance Design of the 2PRU-PSR PM 6.4 Summary References 7 Multi-objective Optimization of Parallel Manipulators Using Game Algorithm 7.1 Multi-objective Optimization Game Algorithm 7.2 Example: 2UPR-RPU PM 7.2.1 Regular Workspace Volume 7.2.2 Motion/Force Transmissibility 7.2.3 Stiffness Performance Evaluation 7.2.4 Multi-objective Optimization 7.3 Summary References 8 Hybrid Algorithm for Multi-objective Optimization Design of Parallel Manipulators 8.1 Hybrid Algorithm and GPR-Based Mapping Modeling 8.1.1 Procedure of the Hybrid Algorithm 8.1.2 GPR-Based Mapping Model 8.2 Example: 2PRU-UPR PM 8.2.1 Kinematic Performance Index 8.2.2 Stiffness Performance Index 8.2.3 Elastodynamic Performance Index 8.2.4 Regular Workspace Volume 8.2.5 Multi-objective Optimization 8.3 Summary References 9 Sensitivity Analysis and Multi-objective Optimization Design of Parallel Manipulators 9.1 Sensitivity Analysis and Multi-objective Optimization Design Method 9.1.1 Response Surface Model 9.1.2 Sensitivity Analysis 9.1.3 Multi-objective Optimization Design of PMs 9.2 Example: Delta PM 9.2.1 Workspace Analysis 9.2.2 Kinematic Performance Index 9.2.3 Dynamic Performance Index 9.2.4 Sensitivity Analysis and Multi-objective Optimization Design of Delta PM 9.3 Summary References 10 Multi-objective Optimization Design of Parallel Manipulators Based on the Principal Component Analysis 10.1 Multi-objective Optimization of PMs Based on the Principal Component Analysis 10.2 Example 1: 3RPS PM 10.2.1 Performance Indices of the 3RPS PM 10.2.2 Multi-objective Optimization Design of the 3RPS PM
10.3 Example 2: 6PSS PM 10.3.1 Performance Indices of the 6PSS PM 10.3.2 Multi-objective Optimization Design of the 6PSS PM 10.4 Summary References 11 Multi-objective Optimization Design of Parallel Manipulators Based on the Intelligent-Direct Search Algorithm 11.1 Intelligent-Direct Search Algorithm 11.1.1 Introduction of Pareto Front 11.1.2 Procedure of the Intelligent-Direct Search Algorithm 11.2 Example: 2UPR-RPU PM 11.2.1 Performance Indices of the 2UPR-RPU PM 11.2.2 Multi-objective Optimization Design of the 2UPR-RPU PM 11.3 Summary References
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