【摘要】 针对多重四面体变几何桁架机器人，本文导出了它的基本公式，建立了动力学解析模型，导出了数字－符号表示的动力学模型矩阵，并给出了实例说明。更多还原

【Abstract】 In this paper,some fundamental formulae are derived for tetrahedron based variable geometry truss manipulator which is composed of a series of tetrahedrons stacked upon each other such that one link in each cell is made variable on length.Analytical model for dynamics of the manipulator are established ,and expressions in numeric symbolic form of model matrices are derived .An example is given for illustration.更多还原