Research on Motion/Force Transmission Characteristics and Good Transmission Workspace Identification Method of Multi-drive Parallel Mechanism

This paper puts forward a novel parallel mechanism with multiple driving modes to address the inherent limitations of workspace and singular configurations in single-driven parallel mechanisms. Taking the planar 6R parallel mechanism as an example, we conduct numerical and simulation-based studies to demonstrate the superior kinematic performance of the multi-drive mode parallel mechanism. The analytical process involved initial investigation and characterization of the mechanism, development of prototype, establishment of inverse kinematics model and introduction of local transmission index. Motion/force transmission indices under both single driving mode and multiple driving modes were then compared and analyzed. Drawing on the motion/force transmission index, we identified the good transmission workspace of the mechanism and performed a performance comparison analysis. The results unequivocally demonstrate that engaging the multi-drive mode substantially enhances the parallel mechanism's kinematic performance.