It is analyzed the topology structure of the robot, the kinematic solutions of the parallel mechanism, the kinematic properties of the rolling part.
分析了该类机构的拓扑结构、并联机构的运动学反解，并对滚法推拿头进行运动学设计与分析。
It is analyzed the topology structure of the robot, the kinematic solutions of the parallel mechanism, the kinematic properties of the rolling part.
分析了该类机构的拓扑结构、并联机构的运动学反解，并对滚法推拿头进行运动学设计与分析。
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