[1] 刘海涛, 熊坤, 贾昕胤, 等. 3自由度冗余驱动下肢康复并联机构的运动学优化设计 ［J］. 天津大学学报: 自然科学与工程技术版, 2018, 51(4): 357-366.

    LIU H T, XIONG K, JIA X Y, et al.. Kinematic optimization of a redundantly actuated 3-DOF parallel mechanism for lower-limb rehabilitation ［J］. Journal of Tianjin University: Science and Technology, 2018, 51(4): 357-366. (in Chinese)

[2] WANG C Z, FANG Y F, GUO SH, et al.. Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation ［J］. Journal of Mechanisms and Robotics, 2013, 5(4): 041003-1-041003-11.

[3] 李永泉, 宋肇经, 郭菲, 等. 多能域过约束并联机器人系统动力学建模方法 ［J］. 机械工程学报, 2016, 52(21): 17-25.

    LI Y Q, SONG ZH J, GUO F, et al.. Dynamic modeling method for overconstrained multi-energy domain parallel manipulator ［J］. Journal of Mechanical Engineering, 2016, 52(21): 17-25. (in Chinese)

[4] 崔学良, 陈五一, 韩先国, 等. 冗余驱动支链对3RPS并联机构刚度的改善 ［J］. 中国机械工程, 2015, 26(23): 3162-3166.

    CUI X L, CHEN W Y, HAN X G, et al.. Stiffness improvement of 3RPS PKM by redundant actuating Leg ［J］. China Mechanical Engineering, 2015, 26(23): 3162-3166. (in Chinese)

[5] 董成林, 刘海涛, 黄田. 含冗余驱动支链4-UPS&UP并联机构的运动学性能分析 ［J］. 机械工程学报, 2016, 52(5): 17-25.

    DONG CH L, LIU H T, HUANG T. Kinematic performance analysis of edundantly actuated 4-UPS&UP parallel manipulator ［J］. Journal of Mechanical Engineering, 2016, 52(5): 17-25. (in Chinese)

[6] 姜峣, 李铁民, 王立平. 过约束并联机构动力学建模方法 ［J］. 机械工程学报, 2013, 49(17): 123-129.

    JIANG Y, LI T M, WANG L P. Research on the dynamic model of an over-constrained parallel mechanism ［J］. Journal of Mechanical Engineering, 2013, 49(17): 123-129. (in Chinese)

[7] WU J, LI T M, XU B Q. Force optimization of planar 2-DOF parallel manipulators with actuation redundancy considering deformation ［J］. Proc. IMechE Part C: Journal of Mechanical Engineering Science, 2013, 227(6): 1371-1377.

[8] 山显雷, 程刚. 考虑关节摩擦的3SPS+1PS并联机构显式动力学建模研究 ［J］.机械工程学报, 2017, 53(1): 28-35.

    SHAN X L, CHENG G. Explicit dynamic modeling of a 3SPS+1PS parallel manipulator with joint friction ［J］. Journal of Mechanical Engineering, 2017, 53(1): 28-35. (in Chinese)

[9] 王向阳, 郭盛, 曲海波, 等. 并联机构驱动力优化配置方法及应用研究 ［J］. 机械工程学报, 2019, 55(1): 32-41.

    WANG X Y, GUO SH, QU H B, et al.. Optimal allocation method of parallel mechanism and its application ［J］. Journal of Mechanical Engineering, 2019, 55(1): 32-41.(in Chinese)

[10] 刘凉, 赵新华, 王收军, 等. 空间刚柔耦合并联机构的逆动力学建模与控制 ［J］. 光学 精密工程, 2018, 26(1): 95-104.

    LIU L, ZHAO X H, WANG SH J, et al.. Inverse dynamic modeling and control of spatial rigid-flexible parallel manipulator ［J］. Opt. Precision Eng., 2018, 26(1): 95-104. (in Chinese)

[11] WANG L P, WU J, WANG J S. Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy ［J］. Robotics and Computer-Integrated Manufacturing, 2010, 26(1): 67-73.

[12] 金振林, 赵裕明. 一种具有三自由度六支链海浪能发电装置: 中国, 201610836627X［P］. 2017-05-10.

    JIN ZH L, ZHAO Y M. 6-Leg 3-DOF wave power device: China: 201610836627X ［P］. 2017-05-10. (in Chinese)

[13] 侯雨雷, 赵亚杰, 周治宇, 等. 3-RSR/SP并联车载天线机构运动及力学特性分析 ［J］. 中国机械工程, 2017, 28(23): 2799-2808.

    HOU Y L, ZHAO Y J, ZHOU ZH Y, et al..Kinematic and mechanics characteristic analysis of 3-RSR/SP parallel vehicle-borne antenna mechanism ［J］. China Mechanical Engineering, 2017, 28(23): 2799-2808. (in Chinese)

[14] 荣誉, 刘双勇, 王洪斌, 等. 一种3-DOF并联机械手的研制 ［J］. 中国机械工程, 2018, 29(3): 253-261.

    RONG Y, LIU SH Y, WANG H B, et al..Development of a 3-DOF parallel manipulator ［J］. China Mechanical Engineering, 2018, 29(3): 253-261. (in Chinese)

[15] 陈修龙, 蒋德玉, 陈林林, 等. 冗余并联机构运动学性能分析与优化 ［J］.农业机械学报, 2016, 47(6): 340-346.

    CHEN X L, JIANG D Y, CHEN L L, et al.. Kinematics performance analysis and optimal design of redundant actuation parallel mechanism ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2016, 47(6): 340-346. (in Chinese)

[16] 金振林, 张金柱, 高峰. 一种消防六足机器人及其腿部机构运动学分析 ［J］. 中国机械工程, 2016, 27(7): 865-871.

    JIN ZH L, ZHANG J ZH, GAO F. A firefighting six-legged robot and its kinematics analysis of leg mechanism ［J］. China Mechanical Engineering, 2016, 27(7): 865-871. (in Chinese)

[17] 陈修龙, 陈林林, 梁小夏. 4自由度冗余驱动并联机构运动学和工作空间分析 ［J］.农业机械学报, 2014, 45(8): 307-313.

    CHEN X L, CHEN L L, LIANG X X. Kinematics and workspace analysis of a novel 4-DOF redundant actuation parallel mechanism ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(8): 307-313. (in Chinese)

[18] 张金柱, 金振林, 张哲. 六足机器人整机运动学分析及构型选择 ［J］. 光学 精密工程, 2017, 25(7): 1832-1842.

    ZHANG J ZH, JIN ZH L, ZHANG ZH. Kinematics analysis and configuration selection of whole machine of hexapod robot ［J］. Opt. Precision Eng., 2017, 25(7): 1832-1842. (in Chinese)

[19] 胡波, 路懿, 许佳音, 等. 新型过约束并联机构2RPU+UPU动力学模型 ［J］. 机械工程学报, 2011, 47(11): 36-43.

    HU B, LU Y, XU J Y, et al.. Solving kinematics for a novel over-constrained 2RPU+UPU parallel manipulator ［J］. Journal of Mechanical Engineering, 2011, 47(11): 36-43.(in Chinese)

[20] 赵燕, 黄真. 含过约束力偶的少自由度并联机构的受力分析 ［J］. 机械工程学报, 2010, 46(5): 15-21.

    ZHAO Y, HUANG ZH. Force analysis of lower-mobility parallel mechanisms with over-constrained couples ［J］. Journal of Mechanical Engineering, 2010, 46(5): 15-21. (in Chinese)

[21] 荣誉, 韩勇, 刘双勇, 等. 可变胞并联机械臂样机的研制与误差分析 ［J］. 光学 精密工程, 2018, 26(7): 1698-1707.

    RONG Y, HAN Y, LIU SH Y, et al.. Development and error analysis of metamorphic parallel manipulators ［J］. Opt. Precision Eng., 2018, 26(7): 1698-1707. (in Chinese)