Forward Kinematic Analysis of Redundant Actuation Parallel Mechanism

A kind of redundant actuation parallel mechanism with eight sub-chains is proposed and analyzed in this article. Output kinematic characteristics of the moving platform are analyzed by degree-of-freedom method and redundant degree-of-freedom number is analyzed. The moving platform of this redundant parallel mechanism can fulfill a six degree-of-freedom motion while the number of needed input variables is eight. Based on the inverse kinematics solution of this actuation redundant parallel robotic mechanism, given in a closed form, an analysis method for resolving the forward kinematic problems, which are crucial for the research on workspace, velocity and acceleration, error and synthesis of the mechanism, is explained in detail. And examples are also given in the end to verify the validity of this method.