This research proposes a novel over-constrained parallel mechanism without parasitic motion. The parasitic motion analysis and the kinematic problem of the mechanism are presented, especially the reason for non-parasitic motion property is clarified and analytical solutions for the forward kinematics are obtained. Since the proposed mechanism both possesses active and passive redundant constraints, the solution for dynamic analysis cannot be uniquely determined. To solve the problem, the classical optimization criterion and the deformation compatibility condition are introduced to form an optimization model, in which the least square norm of driving forces is the optimization objective, and the compatible equations and the dynamic equation based on Newton-Euler method are served as constraint equations. Then the driving forces and constraint forces/moments can be uniquely determined by solving the optimization model. The result also shows the friction effect and the internal mechanical behaviors of the mechanism. Meanwhile, an efficient dynamic model is also developed based on the principle of virtual work. A case study is performed and the dynamic formulations are verified with the results obtained in Adams. Finally, the motion/force transmission and dynamic manipulability ellipsoid are adopted to evaluate the local and global performances of the mechanism.

这项研究提出了一种没有寄生运动的新型超约束并联机构。提出了机构的寄生运动分析和运动学问题，特别是阐明了非寄生运动性质的原因，并提出了正向运动学的解析解。由于所提出的机制都具有主动和被动冗余约束，因此无法唯一确定动态分析的解决方案。为解决该问题，引入经典的优化准则和变形相容条件，形成了以驱动力最小二乘范数为优化目标的优化模型，并基于牛顿-欧拉法建立了相容方程和动力学方程。用作约束方程式。然后，可以通过求解优化模型来唯一确定驱动力和约束力/力矩。结果还显示了该机构的摩擦效果和内部机械性能。同时，还基于虚拟工作原理开发了有效的动态模型。进行了案例研究，并用在Adams中获得的结果验证了动态公式。最后，通过运动/力传递和动态可操纵性椭圆体来评估该机构的局部和全局性能。进行了案例研究，并用在Adams中获得的结果验证了动态公式。最后，通过运动/力传递和动态可操纵性椭圆体来评估该机构的局部和全局性能。进行了案例研究，并用在Adams中获得的结果验证了动态公式。最后，通过运动/力传递和动态可操纵性椭圆体来评估该机构的局部和全局性能。