含球面副间隙的空间并联机构动态特性

李研彪,徐涛涛,郑航,王泽胜

Dynamic characteristics of spatial parallel mechanism with spherical joint clearance

Yan-biao LI,Tao-tao XU,Hang ZHENG,Ze-sheng WANG

图 10 不同间隙尺寸下角加速度的均方根误差

Fig.10 Root-mean-square error of angular acceleration for different clearance sizes