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 4 含间隙的并联机构闭环矢量图

Fig.4 Closed-loop vector diagram of parallel mechanism with clearance