This paper puts forward a multi-objective optimisation design method to reduce the dynamic impact on the 3-RPS/(H) metamorphic parallel mechanism during configuration change. Lagrange’s equations and the principle of virtual work are used in this study to establish a dynamic model that considers the effect of impact forces during configuration change. Build an event-driven changing model to simulate how the configuration changes in practice more realistically. A dual-objective optimisation framework has been set up, and the upper bounds for maximum actuation force and actuation force settling time serve as the optimisation goals. Using a modified NSGA-II-based optimisation, the intrinsic connection among design variables, such as mass distribution, and the dynamic performance of a mechanism has been systematically explored. Provide quantitative Design criteria for engineering low-impact, high-stability metamorphic parallel mechanisms.
