建立了一种混联型虚拟轴机床主进给机构位置分析的输入输出方程，并推导出奇异位形判别的解析表达式。
The input output equation of displacement analysis for the main feed mechanism of a new type hybrid virtual axis machine tool is established.
建立了一种混联型虚拟轴机床主进给机构位置分析的输入输出方程，并推导出奇异位形判别的解析表达式。
An analytical expression for determining singularity configuration which is a polynomial equation is set, and the numeric symbolic manipulating technique is introduced in the paper.
针对滚法手法滚动频率较高的特点，增加了滚法推拿头机构，进一步提出一种改进型并联与串联机构混联的推拿机器人。
A new hybrid robot with series-parallel mechanism adding a rolling massage part on the moving platform is presented because of the high frequency of the rolling method.
针对滚法手法滚动频率较高的特点，增加了滚法推拿头机构，进一步提出一种改进型并联与串联机构混联的推拿机器人。
A new hybrid robot with series-parallel mechanism adding a rolling massage part on the moving platform is presented because of the high frequency of the rolling method.
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