Aiming at the problems of small good workspace, many singular configurations, and limited carrying capacity of non-redundant parallel mechanisms, a full-redundant drive parallel mechanism is designed and developed, and its performance evaluation, good workspace identification, and scale optimization design are studied. First, the kinematics analysis of the planar 6R parallel mechanism is completed. Then, the motion/force transmission performance evaluation index of the mechanism is established, and the singularity analysis of the mechanism is completed. Based on this, the fully redundant driving mode of the mechanism is determined, and the good transmission workspace of the mechanism in this mode is identified. Then, the mapping relationship between the performance and scale of the mechanism is established by using the space model theory, and the scale optimization of the mechanism is completed. Finally, the robot prototype is made according to the optimal scale, and the performance verification is carried out based on the research of dynamics and control strategy. The results show that the fully redundant actuation parallel mechanism obtained by design optimization has high precision and large bearing capacity. The position repeatability and position accuracy are 0.053 mm and 0.635 mm, respectively, and the load weight ratio can reach 15.83%. The research results of this paper complement and improve the performance evaluation and scale optimization system of redundantly actuated parallel mechanisms.
