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 3 含球面副间隙运动学模型

Fig.3 Kinematic model of spherical surface with clearance