Introducing kinematical redundancy into parallel mechanism with force redundancy

We aim to design a mechanism with high acceleration and high accuracy. Force redundant mechanism is designed to realize these requirements. However, big excessive internal forces will arise if all the joints adopt position control scheme for upper controller and velocity control scheme for servo motor to achieve a high accuracy. Therefore, an idea of introducing kinematic redundancy into force redundant mechanism is proposed. It is shown this kind of improved force redundant mechanism might be able to achieve a high acceleration with better accuracy simultaneously if the good velocity control performances of the servo motor can be utilized well.