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。

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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。

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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。

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