The Modular Modeling Methodology (MMM) is a general approach, applicable for holonomic or nonholonomic multibody systems, which allows the integrated use of libraries of already available mathematical models along with general-purpose computational tools. This paper extends the application of the Modular Modeling Methodology to kinematically redundant parallel mechanisms and identifies its relevant advantages for the derivation of inverse dynamics models. A planar kinematically redundant parallel manipulator is adopted for illustrating the application of the proposed approach. Four representative trajectories were selected for the trajectory planning and metrics were proposed to evaluate the proximity to singularities and reduce energy consumption. To this end, two distinct strategies are implemented and their differences are discussed. In comparison with previously proposed structures, the analyzed mechanism demonstrates relative advantages in terms of weight and simplicity. The achieved long distant paths by the end-effector and the singularity-free path with low energy consumption carry practical significance, opening possibilities for enhanced performance and efficiency in practical applications. In this scenario, this study contributes to the field of dynamic analysis and trajectory planning for parallel mechanisms.

模块化建模方法 (MMM) 是一种通用方法，适用于完整或非完整多体系统，它允许集成使用现有数学模型库以及通用计算工具。本文将模块化建模方法的应用扩展到运动冗余并联机构，并确定了其在推导逆动力学模型方面的相关优势。采用平面运动冗余并联机械手来说明所提出方法的应用。选择了四个有代表性的轨迹进行轨迹规划，并提出了度量标准来评估与奇点的接近程度并减少能耗。为此，实施了两种不同的策略并讨论了它们的差异。与先前提出的结构相比，所分析的机构在重量和简单性方面表现出相对优势。末端执行器实现的长距离路径和低能耗的无奇点路径具有实际意义，为在实际应用中提高性能和效率提供了可能性。在这种情况下，这项研究有助于并联机构的动态分析和轨迹规划领域。