A review on reconfigurable parallel mechanisms : design, analysis and challenge

Abstract

Reconfigurable parallel mechanisms were first discovered in response to the growing demand for flexible and adaptive systems in various fields. Unlike traditional mechanisms, which are designed for specific tasks and have fixed topology and mobility characteristics, a reconfigurable parallel mechanism can be adapted to different situations by changing its structure, motion, and function. This adaptability enables a single mechanism to perform a wide range of tasks, reducing the need for multiple dedicated systems. This paper presents a comprehensive review of reconfigurable parallel mechanisms. The characteristics of their designs, analyses of their properties, and challenges they face are reported. The beginning of this paper features an introduction of reconfigurable parallel mechanisms and their classification into different types. Methods for synthesizing reconfigurable parallel mechanisms are discussed. A performance evaluation index related to reconfigurability, workspace, singularity, stiffness, and dynamics, among other indices, is presented. This review covers the challenges faced in the creation of systematic design theories, unified performance analyses, evaluation index systems, and in the implementation of reconfigurable parallel mechanisms, such as the development of efficient control strategies and integration with other technologies. The paper concludes with a discussion of future research directions for reconfigurable parallel mechanisms.