Sintesis Dimensi Manipulator Paralel Bidang Dua Derajat Kebebasan Dengan Rantai Kinematik Paralelogram Simetris
The paper discussed the process to find the optimum dimension for the kinematic constants of a two-degree of freedom planar parallel manipulator.This manipulator itself was constructed by symmetric three parallelogram chains.An optimization process using non-sorted dominated genetic algorithm II (NSGA-II) was carried out for maximization of (i) rMI