Articles | Volume 11, issue 1
https://doi.org/10.5194/ms-11-49-2020
https://doi.org/10.5194/ms-11-49-2020
Review article
 | 
16 Mar 2020
Review article |  | 16 Mar 2020

Review article: Performance measures of parallel kinematics manipulators

Abdur Rosyid, Bashar El-Khasawneh, and Anas Alazzam

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Latest update: 23 Apr 2024
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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.