驱动冗余可有效消除并联机构在作业空间中的奇异位形，但其导致驱动力分配不唯一。
Redundant actuation can effectively eliminate singularities in the task space of a parallel manipulator, but the drive force distribution is not unique because of the redundant actuation.
这些结论为冗余并联机构的运动控制以及靠冗余驱动提高机构性能提供参考。
The results will be useful for motion control of redundant parallel mechanisms and improving gross performance of parallel manipulators.
针对弹性并联机构的特点，提出加入冗余支链和冗余驱动的方法来消减弹性机构的振动。
Aimed at the characteristics of elastic parallel mechanism, the method for reducing the vibration of elastic mechanism by adding redundant supporting link and redundant drive was proposed.
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