Force Index Analysis of the Planar 2-DOF Parallel Manipulators With Actuation Redundancy

Based on the workspace and kinematics problem of a kind of planar 2 DOF parallel manipulators with actuation redundancy,Force index of the manipulators is discussed.And the atlases for the force index of the manipulators are plotted in the workspace as an example.These force atlases are very useful for the design of the parallel robotic mechanisms.