The model based on internal force space to reduce internal force

The model based on Internal Force Space to reduce the internal force of super-redundant actuated parallel mechanism is put forward in this paper. The model is proposed to restrain the internal force in the redundant actuated parallel mechanism especially in super-redundant actuated parallel mechanism(SRPM) with long stroke, such as the Million Tons Tester´s (MTT) horizontal redundant driving mechanism. It study a method to work out the internal force of redundant actuated parallel mechanism by using the result of the actuators´ force vector and the Internal Force Space basis. Using the internal force as the feedback to regulate the servo values´ control signals is proposed in this paper to reduce the redundant actuated parallel mechanism´s internal force. Compared to traditional pressure stabilizing controller the model based on Internal Force Space has a better effect in reducing the internal force. At last, the joint simulation with MATLAB and ADAMS is built to test the model.