结果表明，在一定工作空间范围内，主动冗余支链可以显著提高并联机床的刚性。
The results show that in certain range of the workspace, active redundant leg can increase stiffness of PKM significantly.
它们的主动/被动配置提供了完全冗余，可以支持一台服务器出现故障的情况。
Their active/passive configuration provides full redundancy should one server fail.
最后，以平面3r柔性冗余度机器人为例进行了计算机仿真，其结果证明了这种主动控制方法的有效性。
Finally, a planar 3r flexible redundant manipulator is utilized as an illustration example. Simulation results prove the validity and efficiency of this active vibration control strategy.
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