中文摘要：

为了在机构中实施内力控制，提出了一种基于功率优化的驱动力分配策略。首先，提出一种冗余平面并联机器人运动学和动力学分析的方法。用螺旋理论推导了机构雅可比矩阵，基于牛顿一欧拉公式计算主元点的惯性力螺旋，用虚功原理构建动力学公式。然后，基于力优化，分别分析了4-RRR机构和3-RRR机构的驱动力，比较结果表明4-RRR的驱动力峰值有所下降。最后，基于功率优化，对4-RRR的内力和驱动力进行优化，得到了机构内力和驱动力的变化规律。

英文摘要：

An optimum strategy for driving force distribution, which can hold preload in the robot,was presented. First, an approach for the kinematic and dynamic analysis of redundant planar parallel robot was proposed. In this method, theory of screws was used to deduce the Jacobian matrix, and the Newton- Euler equation was used to calculate wrench of pivot points, and the principle of virtual work was sued to formulate the dynamic equation of motion. Then, the driving forces of 3 - RRR and 4 - RRR were optimized based on force optimization, respectively and the peak of driving force for 4 - RRR is lower than that for 3 - RRR. In the end, the internal preload and driving forces of the 4 - RRR were optimized based on the power optimization and the variations rules of the driving forces and internal preload were obtained.