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12 优化前后混联机构的虚功率传递率对比

Fig.12 Comparison of virtual power transmissibility of hybrid mechanism before and after optimization