中文摘要：

k ] 一条设计和优化途径动态并且为 two-DOF 的控制性能平面操纵者被建议。在运动学、动态的分析以后，机制的几个优点被说明，它使获得可能好动态并且就通过机制优化的控制表演。为控制(DFC ) 基于设计的想法，一个新奇有点多客观的优化模型被建议。有三个优化目的：惯性，描述动态联合效果的索引和全球条件数字的索引。描绘象结束受动器，工作区尺寸，和第一模式天赋频率的速度那样的设计要求的另外的索引被认为是限制。连接的剖面图区域和长度被选择为设计变量。NSGA-II 算法被介绍解决这个复杂多客观的优化问题。从设计经验的另外的标准被合并到在获得的 Pareto 答案集合之中选择最后的参数。最后，实验被执行验证优化机制的线性动态结构和控制表演。为与清楚的物理意思测量动态联合度的新表情被建议。优化机制举办的结果表演近似 decoupled 动力学结构，和各活跃的关节能被认为是一个线性 SISO 系统。线性、非线性的控制器的控制表演也被比较。优化机制能完成仅仅使用一个线性控制器的好控制性能，这能被结束。

英文摘要：

A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was proposed. After the kinematic and dynamic analysis, several advantages of the mechanism were illustrated, which made it possible to obtain good dynamic and control performances just through mechanism optimization. Based on the idea of design for control （DFC）, a novel kind of multi-objective optimization model was proposed. There were three optimization objectives： the index of inertia, the index describing the dynamic coupling effects and the global condition number. Other indexes to characterize the designing requirements such as the velocity of end-effector, the workspace size, and the first mode natural frequency were regarded as the constraints. The cross-section area and length of the linkages were chosen as the design variables. NSGA-II algorithm was introduced to solve this complex multi-objective optimization problem. Additional criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution sets. Finally, experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms. A new expression for measuring the dynamic coupling degree with clear physical meaning was proposed. The results show that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint can be regarded as a linear SISO system. The control performances of the linear and nonlinear controllers were also compared. It can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.