The force analysis of overconstrained PMs is relatively complex and difficult, for which the
methods have always been a research hotspot. However, few literatures analyze the …

A novel method for force analysis of the overconstrained lower mobility parallel mechanisms
(LMPM) is proposed. Firstly, definitions of the constraint wrenches and overconstraint …

A new theoretical approach is presented for deriving an appropriate set of equations of
motion for a class of mechanical systems subjected to motion constraints. This approach is …

Problems with uniqueness and high parametric sensitivity of the solution of equations of
motion, encountered in the static friction regime, are addressed. Friction in joints of a …

The problem of calculating joint reaction forces in rigid body mechanisms with redundant
constraints, both geometric and nonholonomic, is discussed. When constraint equations are …

The indeterminate equations that describe overconstrained mechanisms are often solved
using the Moore-Penrose inverse. Some limitations of this approach are investigated here …

Redundancy in the constrained mechanical systems often occurs in complex multibody
mechanic systems in the existence of excessive constraints and singular positions due to …

This paper reveals the relationship between the weighted Moore–Penrose generalized
inverse and the force analysis of overconstrained parallel mechanisms (PMs), including …

For rigid multibody systems with redundant constraints, mathematical modeling and physical
interpretation of the obtained results are impeded due to the nonuniqueness of the …

Overconstrained and overactuated multibody systems are problematic in modeling. Under
the rigid body assumption, redundantly constrained systems have, in general, nonunique …