SUMMARYThis paper presents a methodology to obtain the wrench capabilities of a kinematically redundant planar parallel manipulator using a wrench polytope approach. A methodology proposed by others for non-redundant and actuation-redundant manipulators is adapted to a kinematically redundant manipulator. Four wrench capabilities are examined: a pure force analysis, the maximum force for a prescribed moment, the maximum reachable force, and the maximum moment with a prescribed force. The proposed methodology, which finds the exact explicit solution for three of the four wrench capabilities, does not use optimization and is very efficient.

中文翻译：

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运动学冗余平面并联机械手的扳手功能

摘要本文提出了一种使用扳手多面体方法获得运动学冗余平面并联机械手的扳手能力的方法。其他人针对非冗余和致动冗余机械手提出的方法适用于运动学冗余机械手。检查了四种扳手能力：纯力分析、规定力矩的最大力、最大可达到的力和规定力的最大力矩。所提出的方法可以为四种扳手功能中的三种找到精确的显式解决方案，它不使用优化并且非常有效。