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 5 5-PSS/UPU并联机构部件局部坐标系 |
Fig.5 local coordinate system of 5-PSS/UPU parallel mechanism component |
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