SUMMARYIn this paper, a novel algorithm is formulated and implemented for optimum path planning of parallel manipulators. A multi-objective optimisation problem has been formulated for an efficient numerical solution procedure through kinematic and dynamic features of manipulator operation. Computational economy has been obtained by properly using a genetic algorithm to search an optimal solution for path spline-functions. Numerical characteristics of the numerical solving procedure have been outlined through a numerical example applied to Cassino Parallel Manipulator (CaPaMan) both for path planning and design purposes.

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