From Closed Kinematic Chains to Industrial Robots: The Origin of the Science of Parallel Mechanisms in Russia and Abroad

This article is devoted to the history of the development of the science of parallel structure mechanisms in Russia and abroad from the 19th century to the 1980s. The key stages in the development of this direction are considered, starting with the study of closed kinematic chains and ending with the first industrial application of parallel robots. Particular attention is paid to the contribution of domestic scientists such as P.L. Chebyshev, L.V. Assur, and N.I. Mertsalov, as well as foreign researchers, including E. Gough and D. Stewart. Important patents and inventions that laid the foundation for the further development of parallel robotics are described. This article provides an overview of the most important scientific and engineering achievements in the field of parallel mechanisms up to the 1980s.