A Review on Kinematically Redundant Parallel Mechanisms With Configurable Platforms

摘要

ABSTRACT Parallel mechanisms (PMs) are known for their precision, stiffness, and load‐carrying capacity. However, the rigidity of their end‐effectors limits adaptability in tasks involving multi‐point interaction or the manipulation of irregular objects. To resolve this challenge, parallel mechanisms with configurable platforms (PMCPs) have been developed, utilizing configurable kinematic chains to replace rigid end‐effectors, allowing for adjustments in shape and contact points. This paper comprehensively explores the characteristics of PMCPs, emphasizing the analysis of motion pattern, design methodology, kinematic performance, and a wide range of applications. PMCPs are categorized into groups based on specific criteria, followed by methodologies for analyzing mobility, reconfiguration, workspace, and singularity. Additionally, significant applications spanning several robotic fields are enumerated to highlight the potential of PMCPs. Furthermore, despite PMCPs providing considerable advantages in task adaptability, challenges remain in systematic type synthesis, motion description, and kinematic and dynamic complexity. This paper consolidates advancements in PMCPs to guide researchers toward next‐generation parallel robotic systems.