张玉茹. 动力学解耦的平面多自由度机构的设计[J]. 机器人, 1994, 16(1): 14-19..
ZHANG Yuru. THE DESIGN OF PLANAR MULTI DEGREES OF FREEDOM MECHANISMS WITH DECOUPLED DYNAMICS. ROBOT, 1994, 16(1): 14-19..
Abstract：A design method for manipulators having simple dynamics is presented. First,one or more linkgroups which have zero DOF are added to an open-loop chain to compose a closed-loop chain. Then the massdistribution of the link groups is designed in order to decouple the dynamics of the closed-loop linkage. As aresult,we can design a planar 3 DOF arm with decoupled and constant inertia matrix. Because of its simpleinertia matrix,the arm has good promise for high speed manipulation.
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