The velocity constraint subspace of each branch chain was obtained by means of solving the screw system of each branch chain of 3-PTT parallel mechanism.
通过求解3-PTT并联机构各支链的螺旋系得到各支链的速度约束子空间。
In accordance with the constraint conditions of rod lengths, the optimization model without constraints for solving the positional forward solution of 3-rpr planar parallel mechanism was presented.
根据杆长约束条件，给出了求解3 - R PR平面并联机构位置正解的无约束优化模型。
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