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Methods for Force analysis of Overconstrained Parallel Mechanisms： A Review

Chinese Journal of Mechanical Engineering 2017年第6期30卷 1460-1472页

作者： Wen-Lan Liu Yun-Dou Xu Jian-Tao Yao Yong-Sheng Zhao 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 Education Yanshan University Qinhuangdao 066004 China

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.

关键词： redundantly actuated pm ~ passiveoverconstrained pm ~ statically indeterminate problemforce analysis ~ weighted generalized inverse

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