Based upon wrench system and set theory,the structural conditions of non-overconstrained lower-mobility parallel robots and its synthesis method were proposed.

Study on Analysis and Design of Overconstraints and Self-adjusting Structures for Planar Linkage Mechanisms;

Based on the analysis of functional structure of a stopper,overconstraints were analyzed by various functional structures in different working stages,according to the self-adaptive structural characteristics of variable structure,variable freedom and internal force closure of stopper.

The paper analyzed non-overconstraint structure,freedom degree s configuration of the series Watt type six-bar mechanism,self-adjusting and the permissible errors under the configuration.

There are more overconstraints in the mechanism.

An approach to the optimized reentry-trajectory design of lift-body under aerodynamic overload constraint was proposed.

The number of over-constraint and its bad effects within 3-ZZ(ZRZZ)RR planar parallel mechanism were analyzed.

For seeking a simple, regular, and widely realizing self-adjusting designing way, this article uses approach of the follow text to design no over-constraint and self-adjusting mechanism.

Based on the idea and method of Engineering Robust Design, and with the application of general constraint and the standpoint that uncertainty of plane constraint exists abroad in plane closed chain mechanism as well, this paper makes a detailed analysis for the over-constraint cases of function gener.