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) rMIC (the radius of the maximum inscri... https://jalyttlers.shop/product-category/wine-glasses/