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The typical methods for force analysis of passive overconstrained PMs can be divided into six categories.
To date, various methods for force distribution problems have been proposed.
A review of the methods for force analysis of both passive and active overconstrained PMs is presented.
A brief review of the methods for force analysis of the limb stiffness decoupled and coupled overconstrained PMs follows.
However, the existing theoretical methods for force analysis of overconstrained PMs are basically proposed without considering the actual characteristics of the mechanisms, such as joint clearance and friction, the real stiffness models of supporting limbs.
In the case that only driving forces/torques are required, the methods for force analysis of non-overconstrained PMs are applicable to this kind of mechanisms, such as, the Newton Euler formulation [42, 43], the virtual work principle [44, 45], the Lagrangian formulation [9, 46], and so on [47, 48].
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