Articles | Volume 11, issue 1
https://doi.org/10.5194/ms-11-49-2020
© Author(s) 2020. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-11-49-2020
© Author(s) 2020. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Review article
| 
16 Mar 2020
Review article |
| 16 Mar 2020
| 16 Mar 2020
Review article: Performance measures of parallel kinematics manipulators
Abdur Rosyid
Mechanical Engineering Department, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, United Arab Emirates
Bashar El-Khasawneh
CORRESPONDING AUTHOR
Mechanical Engineering Department, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, United Arab Emirates
Anas Alazzam
Mechanical Engineering Department, Khalifa University of Science and Technology, P.O. Box 127788, Abu Dhabi, United Arab Emirates
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Cited
37 citations as recorded by crossref.
- Workspace analysis of a 6-degree-of-freedom hybrid robot with two parallel modules K. Mukhin et al. https://doi.org/10.1017/S0263574725102592
- Workspace optimization of 1T2R parallel manipulators with a dimensionally homogeneous constraint-embedded Jacobian H. Nigatu & D. Kim https://doi.org/10.1016/j.mechmachtheory.2023.105391
- Optimization and Experimental Evaluation of a Legged Robot Mechanism Based on Task Space Partitioning B. Liu et al. https://doi.org/10.3390/fractalfract10060401
- Modeling dual stiffness-compliance extrema over workspace of 6-DOF parallel robots V. Portman & V. Chapsky https://doi.org/10.1016/j.mechmachtheory.2026.106408
- Dexterity, Workspace and Performance Analysis of the Conceptual Design of a Novel Three-legged, Redundant, Lightweight, Compliant, Serial-parallel Robot D. Feller https://doi.org/10.1007/s10846-023-01900-8
- Stiffness Modeling and Performance Evaluation of a (R(RPS&RP))&2-UPS Parallel Mechanism M. Wang et al. https://doi.org/10.1186/s10033-025-01347-y
- Dimensional (Parametric) Synthesis of the Hexapod-Type Parallel Mechanism with Reconfigurable Design A. Fomin et al. https://doi.org/10.3390/machines9060117
- Dimensional Synthesis of a Novel 3-URU Translational Manipulator Implemented through a Novel Method R. Di Gregorio https://doi.org/10.3390/robotics11010010
- Dimensional synthesis method of parallel manipulators based on the principle component analysis C. Yang et al. https://doi.org/10.1016/j.mechmachtheory.2022.104980
- Optimization design of a parallel surgical robot with remote center of motion J. Qiu et al. https://doi.org/10.1016/j.mechmachtheory.2023.105327
- Real-time structural flexibility compensation for modal decoupling control of hydraulic redundant parallel mechanism via digital twins B. Zhang et al. https://doi.org/10.1016/j.conengprac.2026.107091
- Robot stiffness evaluability problem: Solution by Schur complements and collinear stiffness values V. Portman https://doi.org/10.1016/j.mechmachtheory.2021.104297
- Adaptive sliding‐mode‐assisted disturbance observer‐based decoupling control for inertially stabilized platforms with a spherical mechanism D. Tian et al. https://doi.org/10.1049/cth2.12296
- On the computation of motion resolution for robotic manipulators C. Vaida et al. https://doi.org/10.1016/j.mechmachtheory.2026.106546
- Design of 4-DOF hybrid parallel robots with an integrated three-fingered robot end effector L. Wang et al. https://doi.org/10.1016/j.mechmachtheory.2023.105443
- Shape Optimization of Hexaglide Mechanism-Based MRI-Guided Prostate Biopsy Robot Design F. Anique et al. https://doi.org/10.1007/s12555-026-00181-9
- A minimal-error-model based two-step kinematic calibration methodology for redundantly actuated parallel manipulators: An application to a 3-DOF spindle head S. Jiang et al. https://doi.org/10.1016/j.mechmachtheory.2021.104532
- Design Optimization of a 3-PUU Parallel Machine for Friction Stir Welding Robots E. Marliana et al. https://doi.org/10.1109/ACCESS.2025.3536482
- Wrench transformation technique for robot stiffness evaluation: Direct sum based solution and application to kinetostatic indices V. Portman https://doi.org/10.1016/j.mechmachtheory.2020.104040
- Dexterity Online Optimization of Robotic Endoscopes Based on the Constrained Condition Number Under RCM Constraints X. Wang et al. https://doi.org/10.1109/TMECH.2024.3513645
- Motion–Force Interaction Performance of Parallel Robotic Mechanisms Q. Meng et al. https://doi.org/10.1002/smb2.12006
- A Novel Parallel Exoskeleton for Wrist Rehabilitation: Conceptual Design, Kinematics, and Singularity Analysis S. Yavuz & S. Himmetoglu https://doi.org/10.3390/machines14091039
- Parallel–Serial Robotic Manipulators: A Review of Architectures, Applications, and Methods of Design and Analysis A. Antonov https://doi.org/10.3390/machines12110811
- A review of parallel kinematic machine tools: Design, modeling, and applications M. Russo et al. https://doi.org/10.1016/j.ijmachtools.2024.104118
- Certified kinematic tools for the design and control of parallel robots A. Lê et al. https://doi.org/10.1016/j.mechmachtheory.2024.105865
- Quantum neural network-based inverse kinematics of a six-jointed industrial robotic arm M. Fazilat & N. Zioui https://doi.org/10.1016/j.robot.2025.105123
- Position, velocity, and workspace analysis of a novel 6-DOF parallel manipulator with “piercing” rods A. Antonov & V. Glazunov https://doi.org/10.1016/j.mechmachtheory.2021.104300
- Workspace and performance analysis of a 6-DOF hexapod-type manipulator with a circular guide A. Antonov et al. https://doi.org/10.1177/09544062221095953
- Inverse kinematics and redundancy resolution in manipulators: Methods, optimization objectives, and future trends H. Xing et al. https://doi.org/10.1016/j.birob.2026.100339
- Design Optimization of a Parallel–Serial Manipulator Considering Stiffness Criteria A. Antonov https://doi.org/10.3390/robotics13120176
- Time-varying stiffness analysis of double-row tapered roller bearing based on the mapping structure of bearing stiffness matrix D. Yang & X. Wang https://doi.org/10.1007/s10409-022-22030-x
- Fourier-Encoded Plücker Line Fields for Globally Bounded Inverse Velocity Mapping of Axisymmetric Parallel Mechanisms Y. Yuan & J. Liu https://doi.org/10.3390/machines14040370
- Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators R. Di Gregorio & E. Yilmaz https://doi.org/10.3390/machines9020027
- A singularity improvement method for 4-DOF proper-constraint parallel mechanism Y. Xie et al. https://doi.org/10.1139/tcsme-2025-0063
- Parallel Robots with a Circular Guide: Systematic Review of Kinematic Schemes and Methods of Synthesis and Analysis S. Kiselev et al. https://doi.org/10.3103/S1052618822010058
- Optimization of low impact docking mechanism based on integrated joint design and task-oriented force ellipsoid index C. Xu et al. https://doi.org/10.1007/s10999-023-09670-9
- Robots and manipulators for structure assembly, spacecraft maintenance and space debris transportation V. Svotina https://doi.org/10.1007/s42401-025-00411-8
Latest update: 04 Oct 2026
Short summary
This extensive review paper, which involves 204 papers, discusses comprehensively a number of performance indices that are instrumental in the design of parallel kinematics manipulators. These indices measure the workspace as well as its quality including the distance to singularity, dexterity, manipulability, force transmission, accuracy, stiffness, and dynamic performance. This paper would benefit designers, practitioners and researchers in better understanding parallel manipulators.
This extensive review paper, which involves 204 papers, discusses comprehensively a number of...
