多体节叠加型混联机构正运动学建模与优化设计

齐杨,娄元航

Forward kinematics modeling and optimal design of multi-segment stacked hybrid mechanism

Yang QI,Yuanhang LOU

图5 混联机构速度解的理论值与仿真值对比

Fig.5 Comparison of theoretical and simulated values of velocity solution of hybrid mechanism