Methods for Force Analysis of Overconstrained Parallel Mechanisms： A Review

作     者：Wen-Lan Liu Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao 

作者机构：Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and StampingTechnology and Science of Ministry of National EducationYanshan University Qinhuangdao 066004 China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2017年第30卷第6期

页      面：1460-1472页

核心收录：

学科分类：08[工学] 080202[工学-机械电子工程] 0817[工学-化学工程与技术] 0807[工学-动力工程及工程热物理] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by National Natural Science Foundation of China(Grant Nos.51675458,51275439) Youth Top Talent Project of Hebei Province Higher Education of China(Grant No.BJ2017060) 

主　　题：Redundantly actuated PM ~ Passiveoverconstrained PM ~ Statically indeterminate problemForce analysis ~ Weighted generalized inverse 

摘      要：The force analysis of overconstrained PMs is relatively complex and difficult, for which the methods have always been a research hotspot. However, few liter- atures analyze the characteristics and application scopes of the various methods, which is not convenient for researchers and engineers to master and adopt them prop- erly. A review of the methods for force analysis of both passive and active overconstrained PMs is presented. The existing force analysis methods for these two kinds of overconstrained PMs are classified according to their main ideas. Each category is briefly demonstrated and evaluated from such aspects as the calculation amount, the compre- hensiveness of considering limbs＇ deformation, and the existence of explicit expressions of the solutions, which provides an important reference for researchers and engi- neers to quickly find a suitable method. The similarities and differences between the statically indeterminate prob- lem of passive overconstrained PMs and that of active overconstrained PMs are discussed, and a universal method for these two kinds of overconstrained PMs is pointed out. The existing deficiencies and development directions of the force analysis methods for overconstrained systems are indicated based on the overview.