Motion–Force Interaction Performance of Parallel Robotic Mechanisms

Abstract

ABSTRACT Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades, receiving widespread attention and undergoing significant advancements. Despite extensive research encompassing type synthesis, dimension optimization, control theory, design principles, manufacturing techniques, and others, comprehensive reviews on the motion–force‐related performance of parallel robotic mechanisms and their applications to real‐world problems are still lacking. This review aims to fill this gap by analyzing and summarizing significant studies on the motion–force interaction performance of parallel robotic mechanisms. Examining the historical development of theoretical paradigms, the research of parallel robotic mechanisms began relatively late compared with their serial counterparts. Initially, approaches for parallel mechanisms were inherited or adopted from serial mechanisms. However, many cases have demonstrated that parallel robotic mechanisms possess unique characteristics, making it infeasible to directly transfer the theories developed for serial mechanisms to parallel mechanisms. Therefore, new methodologies are needed to properly analyze and evaluate the intrinsic properties of parallel robotic mechanisms, where the interaction between motion and force plays a crucial role. This paper offers an extensive and systematic review of the existing journal literature that analyzes and evaluates motion–force interaction performance of parallel robotics mechanisms, also known as motion/force transmission and constraint performance, providing a broad and detailed bibliography that will serve as a reference for the research community. The work examines research strategies, evaluation methods, performance indices, and real‐world applications concerning the motion–force interaction performance of parallel robotic mechanisms, offering a foundation to stimulate future research and innovation.