Then, the theory is used to solve the technology conflict in a new micro-parallel robot and the usage of the conflict matrix, and a new kind of compound spherical joint is designed.

进而着重报告了运用该理论解决一种新型微型并联机器人设计中所出现的技术冲突，运用冲突矩阵设计出一种新型的复合球副。

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Finally, the analysis of physics conflict of the flexible joint structure in a new micro-parallel robot carried on, the usage of the separate principle draws a conclusion correspondingly.

最后对一种新型微型并联机器人中的柔性铰链结构所出现的物理冲突进行分析，运用分离原理得出相应的结论。

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The movement decoupling of this parallel micro-moving robot provided a theoretical foundation for its dynamic analysis, control and its simplification of demarcation.

该并联微动机器人的运动解耦，为其动力学分析、控制及其标定的简化提供了理论基础。

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