六自由度机构
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six dof parallel mechanism 六自由度并联机构
six dof 6-3-3 parallel mechanism 自由度
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First, the inverse kinematics of six DOF(degree of freedom) 6-3-3 parallel mechanism were modeled mathematically and the discriminant matrix about singularity of the parallel mechanism was derived.
建立了6自由度6-3-3并联机构的运动学逆解模型，给出了该机构奇异性判别矩阵。
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