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 8 动平台速度变化曲线
Fig.8 Speed curve of moving platform