4-DOF asymmetric parallel manipulator 2TPS /2TPR is researched in this paper. Firstly, the structure of 2TPS /2TPR is described in detail. Optimized design variables and constraints are sure. Then multi-objective optimization is built by flexibility and workspace of structure. Finally, design optimization of 2TPS/2TPR parallel manipulator based on GA. The optimal size combination of 2TPS /2TPR parallel manipulator is got.
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