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本文在 6 - DOF并联机器人运动模型的基础上 ,采用对加速度及作用力正交分解的方法 ,将其 Newton- Euler动力学模型归结为一个简单的、可用于实时计算的模型 .
Based on the motion model of 6 - DOF parallel robot, the Newton - Euler dynamics model is simplified into a model which can be used for real - time calculation by orthogonal decomposition of acceleration and force.