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13 优化前后混联机构的平均承载力对比

Fig.13 Comparison of average load-bearing capacity of hybrid mechanism before and after optimization