通过建立多自由度行星变速机构的构件相对转速图，提出了一种多自由度复合行星传动方案设计理论和方法。
The design theory and method of multi-freedom compound planetary transmission scheme were presented based on component relative rotational speed diagram.
基于自主研制的七自由度铺丝机，研究具有芯模的封闭构件自动铺丝路径规划技术，设计了通用的铺丝路径生成算法，可生成任意角度的铺丝路径。
Based on the seven-degree-of-freedom fiber placement equipment independently developed, the fiber placement path planning for closed composite parts with core models is researched.
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