球面手腕康复机构逆运动学解新方法及应用

焦文杰,姬帅旭,郝惠敏,黄家海,李利娜,李诗雨

New method and application of inverse kinematic solution for spherical wrist rehabilitation mechanism

Wen-jie JIAO,Shuai-xu JI,Hui-min HAO,Jia-hai HUANG,Li-na LI,Shi-yu LI

图 5 3RRR球面并联机构连接点位置

Fig.5 3RRR spherical parallel mechanism connection point position