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中文摘要：
针对高速高加速度的平面并联机构，采用面向控制系统的机构设计方法，对机械结构进行优化设计．分别在运动学、动力学层面上提出多个性能指标，以其作为目标函数和约束条件建立了标准的多目标优化模型．基于NSGA-Ⅱ算法求解多目标优化问题，进行尺度综合．最终结果表明，优化后的机构能较大程度上消除系统耦合，提升动态性能，为高速控制系统设计提供良好的机械硬件平台．
英文摘要：
For a high-speed and high-acceleration planar parallel mechanism, a design for control （DFC） approach is proposed for the optimization of the mechanism structure. Several evaluation indexes of kinematics and dynamics performance are established for the object functions and constraints, and then a standard multi-objective optimization problem can be formed. The dimension synthesis is carried out by solving the multi-objective optimization with NSGA-Ⅱ （non-dominated sorting genetic algorithm-Ⅱ） algorithm. The final result shows that the mechanism with the optimized parameters can eliminate the systematic coupling and enhance the dynamic performance greatly, which provides a solid mechanism hardware platform for designing the high-speed control system.
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