Review of the performance optimization of parallel manipulators

Performance optimization of parallel manipulators (PMs) have attracted adequate attention in recent years. It mainly concerns performance indices, optimization algorithms and optimization methods. This paper presents an in-depth, comprehensive, reasoned overview for the three basic issues. The research status and existing problems of these issues along with the distinctive approaches that have been explored are reported. Advantages, disadvantages, application scenarios and recommendations of various performance indices, optimization algorithms and methods are discussed. Focus is also placed on future research trends. The results are useful for researchers and engineers to properly select performance indices, optimization algorithms, and optimization methods when designing a PM.