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 6 含球面副间隙的5-PSS/UPU并联机构动力学模型迭代计算流程图

Fig.6 Iterative calculation flow chart of 5-PSS/UPU parallel mechanism kinematic model with spherical clearance