After determining the assemble scheme, the closed forward and inverse solution and velocity Jacobin matrix of the two degree of freedom parallel mechanism are obtained.
After determining the assemble scheme, the closed forward and inverse solution and velocity Jacobin matrix of the two degree of freedom parallel mechanism are obtained.
摘要在确定机构装配方式基础上，求解了二自由度并联机构的位置正反解和速度雅克比矩阵。