At last part, the construction of the redundant actuation equipment ofRedundant Actuation 5-UPS/PRPU PMTs are presented, and its controllingmethod and realizing process are discussed respectively.

• 最后在介绍了5-UPS/PRPU并联机床总体情况的基础上,讨论了该并联机床冗余驱动装置的结构,给出了实现5-UPS/PRPU并联机床冗余驱动控制的方法和实现步骤,并在冗余驱动5-UPS/PRPU并联机床上初步实现了冗余驱动的顺应控制。