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.

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。

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To the development of the controller of the new parallel hybrid electric vehicle EQ7200HEV related to our task, this paper presents the control strategy based on demand torque distribution.

针对课题所涉及的EQ7200HEV新型并联式混合动力电动轿车实车控制策略的开发，提出了基于需求转矩分配的控制方案。

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