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10 优化前后混联机构的末端姿态角对比

Fig.10 Comparison of end posture angle of hybrid mechanism before and after optimization