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本文讨论六个自由度平行多回路具有卅二个构件的机械手手,导出了此机构的一二阶系数矩阵及各构件的速度和加速度计算公式。
In this paper, we discuss the manipulator’s hand with six components with six degrees of freedom in a parallel multi-loop, and derive the first- and second-order coefficient matrix of the mechanism and the formula of velocity and acceleration for each component.