中文摘要：

提出了一种冗余驱动的3PRS/UPS并联机床。为实现该机床的柔顺运动,构建了基于冗余支链的力控制系统,设计了基于PMAC运动学的力控制系统实现方法。实例分析了力控制实现的方法,表明该方法适用于冗余系统的力控制,并且简单可行、易于实现。

英文摘要：

A new type of 3PRS/UPS parallel machine tool with actuation redundancy has been designed.The paper developed a force control system based on the force control of redundant leg to realize the harmonious motion of the legs.Through the analysis of the kinematics theory of Turbo PMAC,a method of force control is put forward based on kinematics which is simple,feasible and easy to control,realize and modify.