In the problem of driving forces/torques distribution of the redundantly actuated parallel mechanisms (PMs), although numerous optimization analysis methods, including the minimum input torque method and minimum energy consumption method have been proposed so far, however, the actual control modes of the actuators were not taken into account among the existing methods for the above problem. Therefore, the present study comprehensively considers both the elastic deformation and actuator’s displacement of each limb, proposes the idea of ”displacement coordination” and establishes the overall displacement coordination equations of the mechanisms. Three different control methodologies of the redundantly actuated PMs, including the full-position methodology, hybrid position–force control methodology and full-force methodology, are studied. For each control methodology, the correlation among the driving forces/torques, actuators’ displacements, external loads and limbs’ stiffness are discussed. An experimental platform of a redundantly actuated PM is built, and the corresponding test investigations for three control methodologies are conducted. In the present study, different control methodologies of the redundantly actuated PMs are considered for the first time, the principle of the dynamic coordination distribution is revealed in different methodologies, which have important reference values for design of coordinated motion control strategy of such kind of mechanisms.

在冗余致动并联机构（PMs）的驱动力/转矩分配问题中，尽管到目前为止已经提出了许多优化分析方法，包括最小输入转矩方法和最小能耗方法，但是，实际的控制模式在解决上述问题的现有方法中，未考虑执行器。因此，本研究综合考虑了每个肢体的弹性变形和执行机构的位移，提出了“位移协调”的思想，建立了各机构的整体位移协调方程。研究了冗余驱动PM的三种不同控制方法，包括全位置方法，混合位置-力控制方法和全力方法。对于每种控制方法，都讨论了驱动力/扭矩，执行机构的位移，外部负载和肢体刚度之间的相关性。建立了冗余驱动永磁电机的实验平台，并针对三种控制方法进行了相应的试验研究。本研究首次考虑了冗余致动永磁电机的不同控制方法，揭示了不同方法的动态协调分布原理，这对于此类机构的协调运动控制策略的设计具有重要的参考价值。 。并针对三种控制方法进行了相应的测试研究。本研究首次考虑了冗余致动永磁电机的不同控制方法，揭示了不同方法的动态协调分布原理，这对于此类机构的协调运动控制策略的设计具有重要的参考价值。 。并针对三种控制方法进行了相应的测试研究。本研究首次考虑了冗余致动永磁电机的不同控制方法，揭示了不同方法的动态协调分布原理，这对于此类机构的协调运动控制策略的设计具有重要的参考价值。 。