王启明, 胡明, 郭成, 蔡光起. 并联式钢坯修磨机器人动力学及轨迹规划研究[J]. 机器人, 1999, 21(1): 69-74..
WANG Qiming, HU Ming, GAO Cheng, CAI Guangqi. STUDY ON DYNAMICS AND TRAJECTORY PLAN OF IN PARALLEL BILLET SNAGGING ROBOT. ROBOT, 1999, 21(1): 69-74..
Abstract：This paper introduces a novel of in parallel billet snagging robotic mechanism,and analyzes kinematics and dynamics,gives out the explicit solution.The forth order ploynomial and clothoid is applied for the snagging path planning.Finally,use computer to simulate.
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