In the previous article, we learned about the basic steps of kinematic analysis for parallel robots, and the research work mainly focused on kinematic forward and inverse solutions, workspace, singularity analysis, and other aspects.

Next, we will conduct in-depth research on the kinematic modeling and analysis of parallel robots by experts and scholars to learn more about the knowledge content.

Based on the kinematic forward and inverse solutions of the 3-RPS parallel mechanism, 01Lee et al. investigated the influence of the ball joint at the end of the branch chain on the motion of the mechanism, as shown in Figure 1.

Figure 1.3-RPS Parallel Mechanism Ball Joint Range

Subsequently, Li et al. introduced the guide rail layout angle variable of the 3-PRS parallel mechanism, conducted kinematic forward and inverse solutions, velocity and singularity analysis, and deeply discussed the influence of layout angle on the workspace and dexterity of the 3-PRS parallel mechanism.

03 Gallardo et al. provided strong support for the dynamic research of the 3-RPS parallel mechanism by deriving analytical formulas for velocity and acceleration.

04Bi et al. conducted kinematic modeling on the 2UPR-SPR parallel mechanism and obtained the forward and inverse solution expressions and workspace maps of the mechanism, as shown in Figure 2.

Figure 2.2 Workspace of UPR-SPR parallel mechanism

05 Liu et al. conducted kinematic inverse kinematics and workspace analysis on the TriVariant parallel mechanism (Figure 3), and based on this, conducted performance evaluation and optimization design.

Figure 3. Workspace of TriVariant parallel mechanism

06Wang et al. conducted detailed kinematic forward and inverse solutions, workspace and singular configuration analysis on the 3-PUU parallel mechanism, and discussed the accompanying motion of the mechanism, as shown in Figure 4.

Figure 4.3-PUU Parallel Mechanism's Adjoint Motion

Chen et al. conducted kinematic inverse kinematics and singularity analysis on PU type parallel mechanisms such as 3-PRRU and 2PRS-PRRU.

Recently, Xu et al. conducted a detailed analysis and comparison of kinematic inverse kinematics, singularity, workspace, and motion/force transfer performance for a series of RPR type parallel mechanisms.

Overall, the work of researchers in kinematic modeling of parallel mechanisms provides a crucial theoretical basis for promoting the continuous advancement of robot technology.

These efforts not only contribute to a comprehensive understanding of the performance of parallel robots, but also lay a solid foundation for designing more flexible and efficient robot systems in the future.

Through in-depth research on kinematic modeling, researchers are able to more accurately describe the motion characteristics of robots, providing important support for achieving more precise control, more optimized design, and a wider range of application scenarios.

Such efforts will further promote the development of robotics technology and enable it to demonstrate outstanding performance in more diverse and intelligent application fields in the future.