一种可变径多模式移动并联机器人的设计与分析

刘玉航,张春燕,田正雨,刘正阳

Design and analysis of a variable-diameter multi-mode mobile parallel robot

Yuhang LIU,Chunyan ZHANG,Zhengyu TIAN,Zhengyang LIU

图21 窄缝穿越模式下机器人上平台质心的位移曲线

Fig.21 Displacement curve of upper platform centroid of robot under narrow-slit crossing mode