【摘要】 推导出混合驱动五杆机构在受力平衡状态下的雅可比矩阵以及末端执行器对外作用力(?)与驱动力矩τ_A和τ_E之间的静力学关系式,为五杆机构的运动学、静力学分析提供了理论基础。更多还原

【Abstract】 In the thesis,the author has derived the Jacobian matrix of the hybrid-driven five-bar mechanism in force balance state and the static relationship between the end effector external force(?) and the driving torquesτ_A andτ_E, providing the theoretical foundation for the Kinematic and static analysis of five-bar mechanism.更多还原