Design method of ellipse shoulder forming device was simplified with four-center method.
主要利用椭圆的“四心法”简化了椭圆管翻领成型器的设计方法。
This paper analyse global coordination motion of biped robot, compute the center of gravity of four limbs mechanism of series connection based on the coordinate transformation of D-H method.
通过分析双足步行机器人整体的协调运动，基于D - H法的坐标变换，对步行机器人四肢串联机构进行了重心合成计算。
This paper sums up the difficulty of solving Angle acceleration and acceleration of planar four-bar linkage mechanisms by using center of speed method, and finds a simple method for all purposes.
总结了瞬心法求解平面四杆机构角加速度、加速度的难点，并找到了一种简便、通用的解决方法。
Based on the synthesis theory concerning the mixed point straight-line four-bar linkage in the special condition, a research method with the circle center and circle point as parameters is proposed.
对在特殊条件下混合点直线四杆机构的综合进行了研究，以圆心、圆点坐标为研究混合点直线四杆机构的参数，推导出一般条件下的综合公式并用实例验证了公式的正确性。
Based on the synthesis theory concerning the mixed point straight-line four-bar linkage in the special condition, a research method with the circle center and circle point as parameters is proposed.
对在特殊条件下混合点直线四杆机构的综合进行了研究，以圆心、圆点坐标为研究混合点直线四杆机构的参数，推导出一般条件下的综合公式并用实例验证了公式的正确性。
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