Planar parallel manipulators: A review on kinematic, dynamic, and control aspects

Abstract

The present paper is about a detailed review of planar parallel manipulators. Planar parallel manipulators have three degrees of freedom, one linear motion along the X-direction, one linear motion along the Y-direction, and one rotation about the Z-axis (θ-motion). Planar parallel manipulators have gained huge popularity because of their larger payload capability, higher stiffness, and agility when compared to serial manipulators. Therefore, the application of planar parallel manipulators is exponentially increasing in various fields like manufacturing, medical, automobile, security surveillance, etc. This paper presents the history of the development of planar parallel manipulators till date and the numerous successful applications of planar parallel manipulators in different fields such as industries, academic institution, medical, etc. The theory of the development of the planar parallel manipulators are based on the major categories such as novel design, optimized design, redundant designs, kinematic and dynamic modeling aspects of the planar parallel manipulators, and control schemes used for the control of the planar parallel manipulators. The kinematic and dynamic performance analyses of the planar parallel manipulators used for different applications are discussed and presented here. The singularity analysis of the planar parallel manipulators, which are the very important aspect to define the working area of the manipulators, is discussed and presented here. Moreover, the present paper elaborated in details about the control schemes proposed, developed, and implemented by past researchers to control the planar parallel manipulators for the different application and presented its effectiveness, which can help the future control problems coming across the planar parallel manipulators. Furthermore, the present paper addresses the increasing demand for planar parallel manipulators in various fields and their in-depth research and extended applications, including intelligent control, smart actuators implementation, and reconfigurable and integrated design and development.